An engine control system includes a spark bound module that determines a bounded spark value based on a desired spark value, a torque bound module that determines a bounded torque value based on the bounded spark value and a desired torque value, and an inverse torque calculation module that determines a desired engine air value based on the bounded torque value and the square of the bounded spark value. The engine air value may be one of a desired air-per-cylinder value and a desired manifold air pressure value. The bounded spark value and the bounded torque value are determined based on one or more of a plurality of engine actuator positions. Related methods for determining the bounded spark value, the bounded torque value, and the engine air value are also provided.