A cinching system includes: a profile configured to determine a first time series of target values for cinching a closure closed; an adjustment module configured to determine an adjustment value based on at least one operating parameter; an adjusting module configured to generate a second time series of target values for cinching of the closure by adjusting at least one of the target values of the first time series based on the adjustment value; and a power control module configured to: apply power to a cinching motor when the closure is partially closed, where the cinching motor is configured to cinch and fully close the closure; and based on a comparison of a measured value of the cinching motor and one of the target values of the second time series, selectively one of: decrease power applied to the cinching motor; and disconnect the cinching motor from power.