A system and method for dynamically deactivating engine cylinders of an engine equipped with a cylinder deactivation system, where the system and method control torsional vibration in the engine while deactivating cylinders using a computer programed with a desired firing density and a controlled range of engine vibration frequencies. The computer dynamically determines a cylinder firing pattern that provides the desired firing density while optimizing a cost function norm in the controlled range of engine vibration frequencies. The cylinder deactivation system in the engine is then controlled using the determined cylinder firing pattern.