A system according to the principles of the present disclosure includes an engine control module, a valve control module, and a level determination module. The engine control module controls an engine mounted in one of an engine dynamometer and a chassis dynamometer based on a predetermined schedule specifying a desired speed with respect to time. The valve control module controls a valve to inject a first quantity of a substance into an exhaust system to simulate the engine outputting an emission. The level determination module determines an emissions level of the emission in the exhaust system based on the predetermined schedule and the first quantity.