An engine control system comprises a torque control module, an air conditioning (A/C) load comparison module, and an A/C load compensation module. The torque control module controls an engine to produce a first torque request based on a first torque maintains a current speed of the engine. The A/C load comparison module compares a transient load to a difference between a torque available to the engine and the first torque request. The A/C load compensation module selectively increases the first torque request prior to a clutch engagement based on the comparison.