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Many industrial controller use real-time OS as control systems have become more complex and control many targets. Thus, as CPU frequency increases, so power consumption increases. Dynamic voltage/frequency scaling is an important issue to consider the power awareness problem in real-time scheduling of embedded systems. The DVS technique is important to control tasks in embedded systems, since DVS, efficiency changes controller performance. If control performance increases, then power consumption increases. That is, if power consumption decreases, then control performance decreases. High control performance and low power consumption are important. Much research has been conducted to solve this problem. In this paper, we propose the feedback fuzzy-PI control DVS method to control tasks in real-time embedded systems. Then, we explain the hard real-time mechanism in the feedback fuzzy-PI control method for control tasks. Simulation shows the task-based feedback fuzzy-PI control DVS performance and missed deadline rate.