1. An engine control module comprising: a torque control module that determines a first desired torque based on a requested torque; an engine speed (RPM) control module that selectively determines a second desired torque based on a desired RPM, wherein the torque control module determines the first desired torque further based on the second desired torque when the engine control module is transitioning from an RPM control mode to a torque control mode, wherein the RPM control module determines the second desired torque further based on the first desired torque when the engine control module is transitioning from the torque control mode to the RPM control mode; and an actuator module that controls an actuator of an engine based on the first desired torque when the engine control module is in the torque control mode and based on the second desired torque when the engine control module is in the RPM control mode.