A system according to the principles of the present disclosure includes a desired capacity module, an anticipated torque request module, and an engine actuator module. The desired capacity module generates a desired torque capacity of an engine at a future time based on a present torque request and a maximum torque output of the engine. The anticipated torque request module generates an anticipated torque request based on the desired torque capacity. The engine actuator module controls an actuator of the engine at a present time based on the anticipated torque request.