For changing text filed height declare NSLayoutConstraint variable constraint in your controller.
In .h file:
    __weak IBOutlet NSLayoutConstraint *heightConstraintOfMyView;//height of the view
    __weak IBOutlet NSLayoutConstraint *verticalspaceConstraintOfMyViewWithTopView;//space between myview and the view just above it
    __weak IBOutlet NSLayoutConstraint *verticalSpaceConstraintOfMyViewWithBottomView;//space between myview and the view just below it
In your storyboard 

Connected 

Vary the frame using constraints.
if (myConditionTrueForShowingView) {
        //setting the constraint to update height 
        heightConstraintOfMyView = 40;
        verticalspaceConstraintOfMyViewWithTopView.constant=20;
        verticalSpaceConstraintOfMyViewWithBottomView.constant=80;
     }
  else{
        //setting the constraint to update height 
        heightConstraintOfMyView = 0;
        verticalspaceConstraintOfMyViewWithTopView.constant=20;
        verticalSpaceConstraintOfMyViewWithBottomView.constant=0;
     }
You can also register for keyboard notifications.
- (void)registerForKeyboardNotifications
{
    [[NSNotificationCenter defaultCenter] addObserver:self
                                             selector:@selector(keyboardWasShown:)
                                                 name:UIKeyboardDidShowNotification object:nil];
    [[NSNotificationCenter defaultCenter] addObserver:self
                                             selector:@selector(keyboardWillBeHidden:)
                                                 name:UIKeyboardWillHideNotification object:nil];
}
And Handle the height changes in the notifications call back- 
@property (weak, nonatomic) IBOutlet NSLayoutConstraint *tableBottomSpaceConstrain;
-(void)keyboardWasShown:(NSNotification*)aNotification
{
    self.view.translatesAutoresizingMaskIntoConstraints = YES;
    if (self.tableBottomSpaceConstrain.constant) {//
        return;
    }
    self.tableBottomSpaceConstrain.constant = 216;// Default Keyboard height is 216, varies for third party keyboard
    [self.view setNeedsUpdateConstraints];
    [self.view updateConstraints];
    [self.view layoutIfNeeded];
    [self.view setNeedsLayout];
    [self.view setNeedsUpdateConstraints];
}
- (void)keyboardWillBeHidden:(NSNotification*)aNotification
{
    self.tableBottomSpaceConstrain.constant =0;
    [self.view layoutIfNeeded];
    [self.view setNeedsLayout];
    [self.view updateConstraints];
}
Learn more about NSLayoutConstraint
Implementing AutoLayout Constraints in Code
See Apple Doc
You can use some third party code if textfield is part of tableviewTPKeyboardAvoiding
See this link: How to make a UITextField move up when keyboard is present?
Making a UITableView scroll when text field is selected