A current control module generates a voltage request based on a d-axis current (Idr) demand. A switching control module controls a motor based on the voltage request and generates an out-of-volts (OOV) signal based on a comparison of the voltage request and an available voltage. An Idr injection module generates the Idr demand based on a direct current (DC) bus voltage, a rotational speed, and a demanded torque and selectively applies a first adjustment to the Idr demand. The Idr injection module identifies whether an improvement resulted from the first adjustment, wherein the improvement is identified based on at least one of (i) a measured current of the motor and (ii) the OOV signal. The Idr injection module selectively applies a second adjustment to the Idr demand based on whether the improvement is identified.