Have a look at the documentation for -[UIStoryboard instantiateViewControllerWithIdentifier:]
. This allows you to instantiate a view controller from your storyboard using the identifier that you set in the IB Attributes Inspector:
EDITED to add example code:
UIStoryboard *mainStoryboard = [UIStoryboard storyboardWithName:@"MainStoryboard"
bundle: nil];
MyViewController *controller = (MyViewController*)[mainStoryboard
instantiateViewControllerWithIdentifier: @"<Controller ID>"];