A system according to the principles of the present disclosure includes an axle torque determination module, an engine torque determination module, and an engine torque control module. The axle torque determination module determines an axle torque request based on a driver input and a vehicle speed. The engine torque determination module determines an engine torque request based on the axle torque request and at least one of a turbine speed and whether a clutch of a torque converter is applied. The engine torque control module controls an amount of torque produced by an engine based on the engine torque request.