A 65nm energy-efficient power management (PM) with frequency-based control (FBC) is proposed for achieving dynamic voltage scaling (DVS) on-the-fly in SoC system. Both DVS and dynamic frequency scaling (DFS) operation are the main specifications for system processors. The controlled loop of the proposed single-inductor dual-output (SIDO) power module is merged with the frequency-controlled phase-lock-loop (PLL) aims to simultaneously achieve both DVS and DFS operations, and thereby is not affected by process, supply voltage, and temperature (PVT) variation. In spite of using complex power processor control scheme, the proposed DVS on-the-fly power module can directly receive the demand from system processor. Experimental results show that the SIDO power module can realize a peak efficiency of 90 %, and the system processor power can be reduced by 33 % with the on-the-fly operation under the different temperature conditions.