Direct Particle Swarm Repetitive Controller with Time-Distributed Calculations for Real Time Implementation Piotr Biernat, Bartlomiej Ufnalski, and Lech M. Grzesiak Institute of Control and Industrial Electronics, Faculty of Electrical Engineering, Warsaw University of Technology, 75 Koszykowa Str., Warsaw 00-662, Poland {piotr.biernat, bartlomiej.ufnalski, lech.grzesiak}@ee.pw.edu.pl http://www.ee.pw.edu.pl Abstract. In this paper, real-time implementation of recently developed direct particle swarm controller for repetitive process is presented. The proposed controller solves the dynamic optimization problem of shaping the control sig- nal in the voltage source inverter. The challenges in real time implementation come from limited sampling period to evaluate a candidate solution. In this paper, the solution of PDPSRC time-distributed calculation is presented. This method can be implemented using digital signal controllers (DSC). Keywords: particle swarm optimization (PSO), time-distributed calculations, real-time implementation 1 Introduction The particle swarm optimization is a population-based evolutionary algo- rithm (EA) modelled after biological swarming such as bird flocking, fish schooling, herding of land animals or collective behavior of insects. This method is usually applied to find the best solution of static, non-changing problems. However, many real world problems are dynamic i.e. variable load of the inverter. In this case, the PSO algorithm has to track the progression of the function optimum through the space as closely as possible. In [1] the plug-in direct particle swarm repetitive controller (PDPSRC) for the sine-wave constant-amplitude constant-frequency voltage source inverter (CACF VSI) is presented. To find the best control signal, the swarm itself is a repetitive controller cooperating in parallel with the controller shaping the signal be- haviour along the pass (in the p-direction). The algorithm maintains a swarm of individuals called particles, where each particle stores all samples of the control signal along the pass. During the exploration process, all particles are