Cardiac performance associated with a current set of N pacing parameters is improved by adjusting the cardiac pacing parameters until optimal or substantially optimal cardiac performance is achieved. The cardiac performance associated with the current set of N pacing parameters is determined. An incrementing step, a determining step, and a increment updating step, are repeated for i=1 to N, where i represents which of the N pacing parameter is being adjusted. The incrementing step includes incrementing an i.sup.th pacing parameter in the current set of N pacing parameters based on a corresponding i.sup.th increment value, to thereby produce an i.sup.th set of test pacing parameters. The determining step includes determining a cardiac performance associated with the i.sup.th set of test pacing parameters. The increment updating step includes updating the i.sup.th increment value based on the cardiac performance associated with the i.sup.th set of test pacing parameters. Finally, after all of the N increment values have been updated, the current set of N pacing parameters is updated based on the updated increment values. The updated current set of N pacing parameters should provide superior cardiac performance than the previous current set of N pacing parameters.