diff --git a/hakoniwa/python/adjust_pid_params.py b/hakoniwa/python/adjust_pid_params.py
new file mode 100644
index 00000000..9b3ac53d
--- /dev/null
+++ b/hakoniwa/python/adjust_pid_params.py
@@ -0,0 +1,156 @@
+import sys
+import random
+
+# パラメータの範囲
+Kp_range = (0, 10)
+Ki_range = (0, 2)
+Kd_range = (0, 10)
+
+# 初期集団サイズ
+population_size = 10
+
+def read_evaluation_results(filename):
+    results = {
+        'steady_state': 0.0,
+        'steady_state_ok': False,
+        'rise_time': 0.0,
+        'rise_time_ok': False,
+        'delay_time': 0.0,
+        'delay_time_ok': False,
+        'overshoot': 0.0,
+        'overshoot_ok': False,
+        'settling_time': 0.0,
+        'settling_time_ok': False
+    }
+
+    try:
+        with open(filename, 'r') as file:
+            lines = file.readlines()
+        for line in lines:
+            if 'Steady state value' in line:
+                results['steady_state'] = float(line.split(':')[1].split(' ')[1])
+                results['steady_state_ok'] = 'OK' in line
+            elif 'Rise time' in line:
+                results['rise_time'] = float(line.split(':')[1].split(' ')[1])
+                results['rise_time_ok'] = 'OK' in line
+            elif 'Delay time' in line:
+                results['delay_time'] = float(line.split(':')[1].split(' ')[1])
+                results['delay_time_ok'] = 'OK' in line
+            elif 'Maximum overshoot' in line:
+                results['overshoot'] = float(line.split(':')[1].split(' ')[1])
+                results['overshoot_ok'] = 'OK' in line
+            elif 'settling time' in line:
+                results['settling_time'] = float(line.split(':')[1].split(' ')[1])
+                results['settling_time_ok'] = 'OK' in line
+    except Exception as e:
+        print(f"Error reading evaluation results: {e}")
+    
+    return results
+
+def read_pid_params(filename):
+    params = {
+        'Kp': 0.0,
+        'Ki': 0.0,
+        'Kd': 0.0
+    }
+
+    try:
+        with open(filename, 'r') as file:
+            lines = file.readlines()
+        for line in lines:
+            if 'DroneAvator_Kp' in line:
+                params['Kp'] = float(line.split('=')[1])
+            elif 'DroneAvator_Ki' in line:
+                params['Ki'] = float(line.split('=')[1])
+            elif 'DroneAvator_Kd' in line:
+                params['Kd'] = float(line.split('=')[1])
+    except Exception as e:
+        print(f"Error reading PID params: {e}")
+
+    return params
+
+def fitness(results):
+    # フィットネス関数を定義
+    fitness_value = 0
+    if results['steady_state_ok']:
+        fitness_value += 1
+    if results['rise_time_ok']:
+        fitness_value += 1
+    if results['delay_time_ok']:
+        fitness_value += 1
+    if results['overshoot_ok']:
+        fitness_value += 1
+    if results['settling_time_ok']:
+        fitness_value += 1
+    return fitness_value
+
+def generate_initial_population(size):
+    population = []
+    for _ in range(size):
+        individual = {
+            'Kp': random.uniform(*Kp_range),
+            'Ki': random.uniform(*Ki_range),
+            'Kd': random.uniform(*Kd_range)
+        }
+        population.append(individual)
+    return population
+
+def select_parents(population, fitnesses):
+    total_fitness = sum(fitnesses)
+    if total_fitness == 0:
+        # フィットネス値がすべてゼロの場合、ランダムに親を選択
+        parents = random.sample(population, 2)
+    else:
+        parents = random.choices(population, weights=fitnesses, k=2)
+    return parents
+
+def crossover(parent1, parent2):
+    child = {
+        'Kp': (parent1['Kp'] + parent2['Kp']) / 2,
+        'Ki': (parent1['Ki'] + parent2['Ki']) / 2,
+        'Kd': (parent1['Kd'] + parent2['Kd']) / 2
+    }
+    return child
+
+def mutate(individual):
+    mutation_rate = 0.1
+    if random.random() < mutation_rate:
+        individual['Kp'] += random.uniform(-0.1, 0.1)
+        individual['Ki'] += random.uniform(-0.05, 0.05)
+        individual['Kd'] += random.uniform(-0.1, 0.1)
+
+    individual['Kp'] = max(min(individual['Kp'], Kp_range[1]), Kp_range[0])
+    individual['Ki'] = max(min(individual['Ki'], Ki_range[1]), Ki_range[0])
+    individual['Kd'] = max(min(individual['Kd'], Kd_range[1]), Kd_range[0])
+    return individual
+
+def adjust_pid_params(results, params, population):
+    fitnesses = [fitness(results) for _ in population]
+    new_population = []
+    for _ in range(len(population)):
+        parent1, parent2 = select_parents(population, fitnesses)
+        child = crossover(parent1, parent2)
+        child = mutate(child)
+        new_population.append(child)
+    return new_population
+
+if __name__ == "__main__":
+    if len(sys.argv) == 2 and sys.argv[1] == '--generate_initial_population':
+        initial_population = generate_initial_population(population_size)
+        for individual in initial_population:
+            print(individual['Kp'], individual['Ki'], individual['Kd'])
+    elif len(sys.argv) == 3:
+        evaluation_file = sys.argv[1]
+        pid_param_file = sys.argv[2]
+
+        results = read_evaluation_results(evaluation_file)
+        params = read_pid_params(pid_param_file)
+        initial_population = generate_initial_population(population_size)
+        new_population = adjust_pid_params(results, params, initial_population)
+        
+        for individual in new_population:
+            print(individual['Kp'], individual['Ki'], individual['Kd'])
+    else:
+        print("Usage: python adjust_pid_params.py <evaluation_result_file> <pid_param_file>")
+        print("       python adjust_pid_params.py --generate_initial_population")
+        sys.exit(1)
diff --git a/hakoniwa/run_pid_sim.bash b/hakoniwa/run_pid_sim.bash
new file mode 100644
index 00000000..43db2c5d
--- /dev/null
+++ b/hakoniwa/run_pid_sim.bash
@@ -0,0 +1,50 @@
+#!/bin/bash
+
+# シミュレーション実行時間
+SIMULATION_TIME=10
+
+# 初期集団を生成
+python python/adjust_pid_params.py --generate_initial_population > population.txt
+
+# シミュレーションと評価のループ
+for i in {1..10}; do
+    echo "Generation $i"
+
+    # 現在の集団から各個体を取り出しシミュレーションを実行
+    while IFS= read -r line; do
+        Kp=$(echo $line | awk '{print $1}')
+        Ki=$(echo $line | awk '{print $2}')
+        Kd=$(echo $line | awk '{print $3}')
+        echo "Individual: Kp=$Kp, Ki=$Ki, Kd=$Kd"
+        
+        # PIDパラメータファイルの更新
+        echo "DroneAvator_Kp=$Kp" > drone_control_params.txt
+        echo "DroneAvator_Ki=$Ki" >> drone_control_params.txt
+        echo "DroneAvator_Kd=$Kd" >> drone_control_params.txt
+
+        sleep 1
+
+        # シミュレーションの開始
+        hako-cmd start
+        
+        # 指定時間待機
+        sleep $SIMULATION_TIME
+        
+        # シミュレーションの停止
+        hako-cmd stop
+        
+        # シミュレーション結果の評価
+        python python/control_evaluate.py ./drone_log0/drone_dynamics.csv > evaluation_result.txt
+        cat evaluation_result.txt
+
+        # 評価結果に基づき新しい集団を生成
+        python python/adjust_pid_params.py evaluation_result.txt drone_control_params.txt > new_population.txt
+
+        # 集団を更新
+        mv new_population.txt population.txt
+        
+        # シミュレーションのリセット
+        hako-cmd reset
+
+    done < population.txt
+done