1. An engine control system of a vehicle, comprising: a prediction module that, based on a set of possible target values for M future times and a model of an engine, determines predicted torques of the engine for the M future times, respectively, wherein M is an integer greater than one; a cost module that determines a cost for the set of possible target values based on comparisons of the predicted torques for the M future times with engine torque requests for the M future times, respectively; a selection module that, based on the cost, selects the set of possible target values from a group including the set of possible target values and N other sets of possible target values, wherein N is an integer greater than zero, and that sets target values based on the selected set of possible target values; and an actuator module that controls an engine actuator based on a first one of the target values.