A control system for a powertrain of a vehicle includes a torque module and a damping control module. The torque module determines a first output torque and a second output torque of the engine. The second output torque is determined after the first output torque. The torque module also determines a torque difference based on the first output torque and the second output torque. The damping control module generates a damping torque in a transmission based on the torque difference.