Adaptive multiprocessor systems are appearing as a promising solution for dealing with complex and unpredictable scenarios. Given the large variety of possible use cases that these platforms must support and the resulting workload variability, offline approaches are no longer sufficient because they do not allow coping with time changing workloads. This letter presents a novel approach based on the utilization of PI and PID controllers, widely used in control automation, for optimizing resources utilization in Multiprocessor System-on-Chip (MPSoC). Several architecture characteristics such as response time during frequency changing, noise and perturbations are modeled and validated in a high-level model and results are compared to information obtained on a homogeneous MPSoC platform prototype. Power and energy consumption figures are discussed and two controllers are proposed: 1) PI-; and 2) PID-based controllers. Results show the system capability of adapting under disturbing conditions while ensuring application performance constraints and reducing energy consumption.