Algorithm 1. Cuckoo search algorithm

Input: $\Delta k_p$, $\Delta k_i$, $\Delta k_d$, M, N Output: $p_a$ 1: while (Number of iterations m < M) do 2:  Generate N random nest locations $k_{0,i}$ (i = 1,2,…,N) 3:  Calculate the objective function value of the initial nest $p\left(k_{0,i}\right)$ 4:  (Levy-flights) Looking for a new nest site $k_{x,j}$ (i = 1,2,…,N) 5:  Calculate the value of the new nest objective function $p\left(k_{x,j}\right)$ 6:  if ($p\left(k_{x,j}\right)$ > $p_a$) then 7:   $p_a$=$p\left(k_{x,j}\right)$ 8:  end if 9:  With the best solution and the best location for the solution 10:  m ← m + 1 11: end while