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Voltage scheduling is indispensable for exploiting the benefit of variable voltage processors. Though extensive research has been done in this area, current processor limitations such as transition overhead and voltage level discretization are often considered insignificant and are typically ignored. We show that for hard, real-time applications, disregarding such details can lead to sub-optimal or even invalid results. We propose two algorithms that guarantee valid solutions. The first is a greedy yet simple approach, while the second is more complex but significantly reduces energy consumption under certain conditions. Through experimental results on both real and randomly generated systems, we show the effectiveness of both algorithms, and explore what conditions make it beneficial to use the complex algorithm over the basic one.