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This paper presents a real-time task scheduling technique with a variable voltage processor which can vary its supply voltage dynamically. Using such a processor, running tasks with a low supply voltage leads to drastic power reduction. However, reducing the supply voltage may violate real-time constraints. In this paper, we propose a scheduling technique which simultaneously assigns both CPU time and a supply voltage to each task so as to minimize total energy consumption while satisfying all real-time constraints. Experimental results demonstrate effectiveness of the proposed technique.