1. An engine control system for a vehicle, comprising: a prediction module that generates predicted engine operating parameters for a set of possible target values based on a plurality of values indicative of states of the engine and a first set of predetermined values set based on characteristics of the engine; a parameter estimation module that determines one or more estimated operating parameters of the vehicle based on the plurality of values indicative of states of the engine and a second set of predetermined values; a cost module that determines a cost for the set of possible target values based on the predicted engine operating parameters; 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 one of the target values.