A vehicle throttle control system includes a torque control system providing a desired torque for a throttle valve. A conversion module converts the desired torque to a desired throttle area and converts the desired throttle area to a target throttle position. A selection module determines which one of multiple MPC controllers should be used based on a current position of the throttle valve. A prediction module determines future state values using a mathematical model of a throttle body. A cost module determines a first cost for a first set of MPC target throttle duty cycle values. A control module identifies optimal sets of target throttle motor duty cycle values for each of the MPC controllers. The multiple MPC controllers control operation of a throttle valve duty cycle to achieve a target throttle opening area based on a first one of the target throttle motor duty cycle values.