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To fully exploit the benefit of variable voltage processors, voltage schedules must be designed in the context of work load requirement. In this paper, we present an approach to finding the least-energy voltage schedule for executing real-time jobs on such a processor according to a fixed priority, preemptive policy. The significance of our approach is that the theoretical limit in terms of energy saving for such systems is established, which can, thus, serve as the standard to evaluate the performance of various heuristic approaches. Two algorithms for deriving the optimal voltage schedule are provided. The first one explores fundamental properties of voltage schedules while the second one builds on the first one to further reduce the computational cost. Experimental results are shown to compare the results of this paper with previous ones.