A system includes a controller that has a processor configured to receive a first signal from a first oxygen sensor indicative of a first oxygen measurement, wherein the first oxygen sensor is disposed upstream of a catalytic converter system; and to receive a second signal from a second oxygen sensor indicative of a second oxygen measurement, wherein the second oxygen sensor is disposed downstream of the catalytic converter system; and to execute a catalyst estimator system, wherein the catalyst estimator system is configured to derive an oxygen storage estimate based on the first signal, the second signal, and a catalytic converter model. The processor is configured to derive a system oxygen storage setpoint for the catalytic converter system based on the catalytic converter model and the oxygen storage estimate.