According to one aspect of the present disclosure, a method of controlling an exhaust gas recirculation (EGR) system of an engine system includes determining a first EGR command according to a first method during a steady state engine condition, determining a second EGR command according to a second method during a transient engine condition, wherein the first method is based at least in part on values from a NOx sensor, and the second method is not based on values from a NOx sensor. The method further includes adjusting an EGR valve of the EGR system based on the first EGR command during the steady state engine condition, and adjusting the EGR valve based on the second EGR command during the transient engine condition.