A control system for a vehicle includes a first controller, a second controller, and an auto-tuner. The first controller is configured to generate an optimal trajectory of the vehicle along a path. The second controller is configured to, based on the optimal trajectory generated by the first controller, generate motoring and braking commands to a motoring and braking system of the vehicle for controlling the vehicle to travel along the path. The auto-tuner includes a processor configured to solve a real-time optimization problem to determine at least one parameter of at least one of the first controller or the second controller.