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Not only system performance but also energy efficiency is critically important for embedded systems. Optimal real-time scheduling is effective to not only schedulability improvement but also energy efficiency for the systems. In this paper, real-time dynamic voltage and frequency scaling (RT DVFS) techniques based on the theoretically optimal real-time static voltage and frequency scaling (RTSVFS) techniques proposed in our previous work are presented for multiprocessor systems. Simulation results show that RT-DVFS covers up the disadvantages of RT-SVFS in the sense that RTDVFS are not practically affected by the difference among systems, whereas the energy consumption of RT-SVFS highly depends on the selectable processor frequency especially in high system utilization.