Frequency encoding chipless Radio Frequency Identification (RFID) tags have been frequently using the radar cross section (RCS) parameter to determine the resonant frequencies corresponding to the encoded information. Recent advancements in chipless RFID design have focused on the generation of multiple frequencies without considering the frequency position and signal amplitude. This article proposes a novel method for chipless RFID tag design, in which the RCS response can be located at an exact position, corresponding to the desired encoding signal spectrum. To achieve this, the empirical Taguchi method (TM), in combination with particle swarm optimization (PSO), is used to automatically search for optimal design parameters for chipless RFID tags with a fast response time, to comply with the frequency encoding requirements in the presence of the mutual coupling effect. The proposed design method is validated using I-slotted chipless tag structures that are fabricated and measured with different sets of resonant frequencies.