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We present an optimal methodology for dynamic voltage scheduling problem in the presence of realistic assumption such as leakage-power and intra-task overheads. Our contribution is an optimal algorithm for energy minimization that concurrently assumes the presence of (1) non-convex energy-speed models as opposed to previously studied convex models, (2) discrete set of operational modes (voltages) and (3) intra-task energy and delay overhead. We tested our algorithm on MediaBench and task setsdoi:10.1109/date.2009.5090886 dblp:conf/date/DabiriVPS09 fatcat:rqfi4rfnqfeuhliuat6xz7b4oi