Distributed generation (DG) units are utilized to feed their closed loads in the autonomous microgrid. While in the grid-connected microgrid, they are integrated to support the utility by their required real and reactive powers. To achieve this goal, these integrated DGs must be controlled well. In this paper, an optimal PQ control scheme is proposed to control and share a predefined injected real and reactive powers of the inverter based DGs. The control problem is optimally designed and investigated to search for the optimal controller parameters by minimizing the error between the reference and calculated powers using particle swarm optimization (PSO). Microgrid containing inverter-based DG, PLL, coupling inductance, LC filter, power and current controllers is implemented on MATLAB. Two microgrid cases with different structure are studied and discussed. In both cases, the microgrid performance is investigated under different disturbances such as three-phase fault and step changes. The simulation results show that the proposed optimal control improves the microgrid dynamic stability. Additionally, the considered microgrids are implemented on real time digital simulator (RTDS). The experimental results verify the effectiveness and tracking capability of the proposed controllers and show close agreement with the simulation results. Finally, the comparison with the literature confirms the effectiveness of the proposed control scheme.