A method of achieving a desired engine speed of an internal combustion engine includes determining the desired engine speed, calculating a slow response torque value based on the desired engine speed and calculating a fast response torque value based on the desired engine speed. A slow response actuator command and a fast response actuator command are generated based on the slow response torque value and the fast response torque value, respectively. Operation of the engine is regulated based on the slow response actuator command and the fast response actuator command to achieve the desired engine speed.