Commanded and estimated engine torque adjustment

An engine control system comprises first and second integral modules, a summer module, and a torque adjustment module. The first integral module determines an engine speed (RPM) integral value based on a difference between a desired RPM and a measured RPM. The second integral module determines a torque integral value based on a difference between a desired torque output for an engine and an estimated torque of the engine. The summer module determines an RPM-torque integral value based on a difference between the RPM and torque integral values. The torque adjustment module determines a torque adjustment value based on the RPM-torque integral value and adjusts the desired torque output and the estimated torque based on the torque adjustment value.