An engine system includes a throttle actuator module and a torque control module. The throttle actuator module controls a throttle actuator based on a desired throttle area. The torque control module determines an actuator torque. The torque control module determines a rate limited torque, a maximum torque, and a minimum torque based on the actuator torque and a predetermined rate of change. The torque control module determines the desired throttle area based on the actuator torque when the rate limited torque is greater than the maximum torque. The torque control module determines the desired throttle area based on the actuator torque when the rate limited torque is less than the minimum torque.