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In this paper,a particle swarm optimization (PSO) based method is proposed to obtain the time-optimal bang-bang control law for both linear and nonlinear systems.By introducing a penalty function,the method can be modified to deal with systems with constraints.Compared with existing computational methods,the proposed method can be implemented in a straightforward manner.The convergent solutions can be achieved by selecting suitable PSO parameters regardless of the initial guess of the switching times.A double integrator and a third-order nonlinear system are used to demonstrate the effectiveness and robusmess of the proposed method.The method is applied to obtain the time-optimal control law for a high performance linear motion positioning system.The results show the practicality of the proposed algorithm.