Design of PID controller based on a self-adaptive state-space predictive functional control using extremal optimization method.

•A self-adaptive means is embedded into PFC to alleviate the model mismatches.•EO algorithm is used to optimize the elements in weighting factors of APFC.•The proposed method is evaluated on the chamber pressure control for a coke furnace.•The EO-APFC-PID method performs well compared with GA-PFC-PID and TL-PID.•The performance of EO-APFC-PID is robust with respect to the parameter b.