A power transmitting unit (PTU) for wireless power transmission (WPT) includes a communication transceiver and a power controller. The communication transceiver connects a communication link with at least one power receiving unit (PRU) through legacy communication and exchanges parameters necessary for the WPT through the connected communication link. The power controller is configured to transmit, to the PRU, a PTU beacon containing information about a dedicated power slot (DPS) allocated to the PRU in a super frame including a plurality of DPSs, to receive a PRU beacon from the PRU, to extract a phase difference between a plurality of antennas by analyzing a continuous wave (CW) of the PRU beacon, and to transmit power to the PRU in the allocated DPS in consideration of the phase difference.