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This paper introduces a reference-free, scalable, and energy-efficient dynamic voltage scaler (DVS) that can be reconfigured for multiple outputs. The proposed DVS employs a novel swapping switched-capacitor (SSC) technique, which can generate target output voltages with higher resolution and smaller ripple voltages than the conventional voltage scalers based on switched-capacitors. The proposed DVS consists of a cascaded 2:1 converter based on swapping capacitors, which is essential to achieve both very small voltage ripple and fine-grain conversion ratios. One of the serious drawbacks of the conventional voltage scalers is the need for external reference voltages to maintain the target output voltage. The proposed SSC; however, eliminates the needs for any reference voltages. This significant benefit is achieved by the self-charging ability of the SSC, which can recharge all its capacitors to the configured voltage by simply swapping the two capacitors in each stage. The proposed SSC-DVS was designed with a resolution of 16 output levels and implemented using a 130 nm CMOS (Complementary Metal Oxide semiconductor) process. We conducted measured results and post-layout simulations with an input voltage of 1.5 V to produce an output voltage range of 0.085–1.4 V, which demonstrated a power efficiency of 85% for a load current of 550 µA with a voltage ripple of as low as 2.656 mV for a 2 KΩ resistor load.