Systems and apparatuses include an aftertreatment system including a catalyst, and a controller coupled to the aftertreatment system. During a warmup period for an engine coupled to the catalyst, the controller is configured to determine a value of a catalyst heating metric indicative of an amount of emissions produced per unit of exhaust energy based on information received from the engine and the aftertreatment system, and control at least one of a turbocharger, a fuel injection system, or an Exhaust Gas Recirculation (EGR) system to reach a target value of the catalyst heating metric.