In this work we take a control-theoretic approach to feedback-based dynamic voltage scaling (DVS) in multi processor system on chip (MPSoC) pipelined architectures. We present and discuss a novel feedback approach based on both linear and non-linear techniques aimed at controlling interprocessor queue occupancy. Theoretical analysis and experiments, carried out on a cycle-accurate multiprocessor simulation platform, show that feedback-based control reduces energy consumption with respect to standard local DVS policies and highlight that non-linear strategies allows a more flexible and robust implementation in presence of variable workload conditions