This study introduces a new method for real-time efficiency tracking and stable output power of Dynamic Wireless Power Transfer (DWPT) systems using variable capacitors. A preliminary detailed discussion and an analysis of the DWPT system are carried out to show how the system can optimize power transmission and efficiency when the relative positions of transmitter and receiver change using a dynamic real-time control of the variable capacitors belonging to the compensation networks. This paper shows a detailed model of the DWPT system, including magnetic coupling analysis, circuit dynamics analysis, and efficiency characteristics analysis, in order to modify the control input values as needed. By utilizing a group optimization strategy, the transmission efficiency can be quickly maximized without using a position detection module. Simulation results demonstrate the effectiveness of the proposed method under various dynamic conditions, achieving significant improvements in energy efficiency and transmission reliability of the DWPT system. This research provides a powerful method to increase the overall performances of DWPT systems, which will help the development of future wireless charging technology.