An engine torque control system for balancing torque output across cylinders of an internal combustion engine includes a first module that determines a derivative term for each cylinder of the engine based on rotation of a crankshaft. A second module determines a torque correction for a first cylinder based on an average derivative term associated with the first cylinder. The second module adjusts a torque output of the first cylinder based on the torque correction and adjusts a torque output of a second cylinder based on the torque correction.