A control system for a transmission of a vehicle comprises an actuation module and an upshift control module. The transmission has a first gear that corresponds to a first transmission ratio and a second gear that corresponds to a second transmission ratio that is less than the first transmission ratio. The actuation module controls an amount torque transferred to the second gear using a friction device. The upshift control module selectively increases the amount of torque transferred to the second gear based on a comparison of the first transmission ratio and a measured transmission ratio at a predetermined period of time after an upshift to the second gear is commanded, wherein the measured transmission ratio is determined based on an input speed of the transmission divided by an output speed of the transmission.