Electric vehicles are an efficient alternative to gasoline-fuelled vehicles, but suffer from limited cruising range and long battery charging time. Wireless power transfer is among the solutions for these problems. By using it, the control of the power converters is essential for achieving high efficiency and desired power to the load at any time. Simultaneous regulation of both power and efficiency on the secondary side of WPT systems has already been proposed in past research. However, such control is still not verified in a dynamic scenario. Therefore, in this paper, the aforementioned control is applied to a dynamic charging scenario. The controllers are based on the online mutual inductance estimation, performed with recursive least square filter by constant trace algorithm. The experimental results show that the proposed control effectively works in dynamic charging.