Big data analytics is rapidly emerging as a key Internet of Things (IoT) initiative aiming at providing meaningful insights and supporting optimal decision making under time constraints. In this direction, prescriptive analytics has just started to emerge. Prescriptive analytics moves beyond descriptive and predictive analytics aiming at providing adaptive, automated, constrained, time-dependent and optimal decisions. The use of time-dependent parameters in prescriptive analytics models provide a more reliable and realistic representation of the complex and dynamic environment and the associated decision making process; however, their estimation poses significant challenges due to the uncertainty derived from inaccurate user input, noisy data, and non-stationarity of real-world data streams. Since feedback and learning mechanisms for tracking the prescriptive analytics are crucial enablers for self-configuration and self-optimization, this paper proposes an approach for sensor-driven learning of time-dependent parameters for prescriptive analytics models deployed in streaming computational environments. The proposed approach was validated in an Industry 4.0 use case, while it was further evaluated through extensive simulation experiments. The proposed approach overcomes challenges related to uncertainty derived from user's input, non-stationary data and sensor noise and provides estimates of time-dependent parameters that lead to more reliable prescriptions. INDEX TERMS Big data, machine learning, data analytics, Internet of Things, non-stationary time-series.