The ongoing decommissioning of conventional power plants decreases the installed reactive power reserves for voltage control in transmission grids. Hence, an efficient planning of compensation devices substituting this lack of reactive power is required. Grid operators must allocate these devices for steady-state voltage control and for dynamic voltage control ensuring voltage stability. A separate determination of this static and dynamic VAR demand, however, fails to exploit synergies and disregards that VAR compensation in steady-state reduces the reserves for dynamic compensation. This paper proposes a coupled determination of the system static and dynamic VAR demand. An optimisation method applying mixed-integer programming identifies an efficient allocation and portfolio consisting of different compensation technologies. It includes constraints for voltage limits during steady-state and contingencies as well as for long-term voltage stability. Results emphasise that the method identifies an efficient portfolio for various operation and fault scenarios, while providing the required voltage stability margin.