A control system for a dual clutch transmission (DCT) of a vehicle comprises a difference module, a summer module, and a position control module. The difference module determines a difference between a desired position for a gear actuator and a measurement of a current position of the gear actuator. The summer module determines a sum of a derivative of the difference and a product of the difference and a predetermined gain. The position control module controls the current position of the gear actuator based on the sum. The current position of the gear actuator controls a position of a gear synchronizer that slides along an output shaft of the DCT. The position of the gear synchronizer controls coupling of a gear ratio with the output shaft.