A control system for a vehicle that includes an engine includes a speed generation module, an airflow determination module, and a throttle control module. The speed generation module generates a desired engine speed during a period after a measured vehicle speed is greater than or equal to a desired vehicle speed, wherein the desired engine speed is based on a difference between the desired vehicle speed and the measured vehicle speed. The airflow determination module determines a desired airflow based on a difference between the desired engine speed and a measured engine speed. The throttle control module determines a desired throttle position based on the desired airflow, and commands a throttle of the engine to the desired throttle position.