Load-independent output with zero-phase-angle (ZPA) input is desirable in wireless inductive power transfer (IPT) converters for effective power delivery, but it usually greatly relies on the parameters of the loosely coupled transformer, normally fixed or constrained by space. Thus, customizable outputs cannot be readily achieved unless a new transformer is redesigned. In this article, we elaborate the rather complex relationships among compensation parameters, customizable load-independent-voltage (LIV) outputs with ZPA input, power efficiency, and overall compensation capacitance cost of the series/series-parallel (S/SP) IPT converter. We present a cost-effective compensation design to free the customization of LIV outputs from a parameter-constrained loosely coupled transformer, with optimization between efficiency enhancement and overall compensation capacitance cost. We conducted the proposed design supported by experimental results in S/SP IPT converters with an identical loosely coupled transformer and various sets of compensation capacitors. Compared with a conventional design, the proposed design provides custom ranges of LIV outputs in both a weak and a relatively strong coupling condition, with over 5.9% and 5% efficiency improvement, respectively. The overall compensation capacitance can also be reduced by up to 37% and 21.5%, respectively.