A system for controlling a hybrid powertrain having an electric motor, an engine and a transmission, the system comprising: an engine control module that (i) receives a torque request, and (ii) when the hybrid powertrain is being powered by the electric motor, determines whether to switch from the electric motor to the engine based on the torque request; and a transmission control module that, in response to a determination to switch from the electric motor to the engine, determines a target engine speed based on the torque request, and switches the hybrid powertrain from the electric motor to the engine based on a comparison between a current engine speed and the target engine speed.