A system includes a voltage determination module and a fuel control module. The voltage determination module determines a first output voltage of a first oxygen sensor position upstream from a catalyst in an exhaust system of an engine, and determines a second output voltage from a second oxygen sensor positioned downstream from the catalyst, the first output voltage indicating a first oxygen level of exhaust upstream from the catalyst, the second output voltage indicating a second oxygen level of exhaust downstream from the catalyst. The fuel control module controls a fuel mass injected into the engine based on the first output voltage and the second output voltage when a temperature of the catalyst is greater than a light-off temperature, and controls the fuel mass based on the second output voltage and independent from the first output voltage when the catalyst temperature is less than light-off temperature.