The paper proposes a method to improve the tran- sient characteristics of current overshoot and oscillation at the start of power transmission for a dynamic wireless power transfer system. The system is important to reduce the settling time as short as possible without current overshoots for a stable power supply. However, conventional methods to suppress current overshoot have a slow response on the secondary side. This paper proposes the superposition of primary and secondary responses. The proposed method controls the secondary voltage by comparing the steady-state current with the current value on the secondary side. The method can effectively suppress the oscillations in the transient response by applying the secondary voltage at the appropriate timing. This paper also studied the ro- bustness of constraints based on model analysis and experimental verification. In the experiments, the proposed method reduces the current overshoot and the settling time of the secondary current, and maximizes the receiving energy.