A system for controlling a hybrid powertrain having an electric motor, an engine and a transmission includes an engine control module that receives a torque request, and when the hybrid powertrain is being powered by the electric motor, determines whether to switch from the electric motor to the engine based on the torque request. A transmission control module, in response to a determination to switch from the electric motor to the engine, determines a target engine speed based on the torque request, and switches the hybrid powertrain from the electric motor to the engine based on a comparison between a current engine speed and the target engine speed.