A method and control module for operating a vehicle powertrain in response to a cruise control includes a primary closed loop control module generating a primary closed loop control signal and a primary torque request signal based on the primary closed loop control signal. The control module also includes a secondary closed loop control module generating a secondary closed loop control signal and a secondary torque request signal based on the secondary closed loop control signal. A transmission control module controls a transmission based on the primary torque request control signal and the secondary torque request signal.