1. An engine control system of a vehicle, comprising: a target engine speed circuit that selectively sets M target engine speeds for M future times, respectively, based on one of increasing and decreasing an engine speed, wherein M is an integer greater than one; a prediction circuit that, based on a set of possible target values for the M future times and a model of an engine, determines M predicted engine speeds for the M future times, respectively; a cost circuit that determines a cost for the set of possible target values based on comparisons of the M predicted engine speeds for the M future times with the M target engine speeds for the M future times, respectively; a selection circuit 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 circuit that controls an engine actuator based on a first one of the target values.