Carbon dioxide transcritical power cycle (CTPC) is suitable for engine waste heat recovery owing to its advantages, such as compact construction and high decomposition temperature. In addition, the addition of refrigerant can further improve the performance of pure carbon dioxide (CO2). Because there are limited studies considering the dynamic performance of CTPC systems with CO2 mixture as the working fluid (CMTPC), let alone the dynamic performance comparison of different structures of the CMTPC system, the object of the current work was to compare the dynamic performance, including the off-design performance and dynamic response speed, of four kinds of CMTPC systems, as well as their sensitivity to system input parameters. The dynamic models of four CMTPC systems were established and validated against experimental data, which includes basic CMTPC (B-CMTPC), CMTPC with a preheater (P-CMTPC), CMTPC with a recuperator (R-CMTPC), and CMTPC with both a recuperator and preheater (PR-CMTPC). Based on the dynamic models, the off-design performance and dynamic response speed of four CMTPC systems were compared by changing the engine load. The fluctuation amplitude and response time of a R-CTPC system are the maximum under off-design conditions. Moreover, the sensitivity analysis demonstrates that different output parameters of four CMTPC systems have differing sensitivity to input parameters. It is necessary to pay attention to the more sensitive input parameters under the specific working condition to avoid system damage or unsafe operation.