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This paper presents an improved algorithm named Comprehensive Learning Particle Swarm Optimization (CLPSO). CLPSO utilizes a novel learning strategy which has achieved the goal to accelerate the convergence of the classic PSO. And CLPSO algorithm is more effective to optimize PID controller's parameters than empirical tuning methods and classic PSO. The simulation results show its better performance than traditional ways in the PID parameters optimization for PID controllers in mechanical arm system.