How to obtain optimal values for the parameters of a PID controller?

I was watching this video on YouTube: 112 - How to manually tune a PID with ROS Control where Rick was teaching about tuning the parameters of a PID controller.
At 0:50 he talks about an Evolutionary Method to find the optimal values of the parameters. The future video that he talked about was never made. So… Does anyone know about any such method to find optimal values of a PID controller?


One method I can think of tha would surel help is with deepreinforcement learning. You can set as parameters the PIDs and use the input utput to do the training. Becuase the number of parameters is so low, it should converge quite fast.