  This paper examines the Evolutionary programming (EP) method for optimizing
PID parameters. PID is the most common type of regulator within control theory,
partly because it's relatively simple and yields stable results for most
applications. The p, i and d parameters vary for each application; therefore,
choosing the right parameters is crucial for obtaining good results but also
somewhat difficult. EP is a derivative-free optimization algorithm which makes
it suitable for PID optimization. The experiments in this paper demonstrate the
power of EP to solve the problem of optimizing PID parameters without getting
stuck in local minimums.
