This paper proposes a nonlinear state-space model for a dynamic wireless power transfer system (DWPT). The DWPT system comprises emitter coils supplied by DC/AC converters, with a phase angle control to achieve maximum power transfer. The power receiver coil is connected to a full bridge diode rectifier followed by an equivalent load resistance. To emulate the dynamic movement property of WPT, the coupling factors between the emitter and receiver coils are set to be variable and depend on the movement of the power receiver alongside the power emitter coils. The control has been successfully demonstrated under variable coupling coefficients to achieve maximum power transfer. Such improvement maintains the power and voltage across the load during transient states.