In real-time applications, compiler-directed dynamic voltage scaling (DVS) could reduce energy consumption efficiently, where compiler put voltage scaling points in the proper places, and the supply voltage and clock frequency were adjusted to the relationship between the reduced time and the reduced workload. This paper presents the optimal configuration of dynamic voltage scaling points without voltage scaling overhead, which minimizes energy consumption. The conclusion is proved theoretically. Finally, it is confirmed by simulations with equally-spaced voltage scaling configuration.