1. An engine control system for a vehicle, comprising: a prediction module that generates a first predicted engine output torque and a first predicted mass of air per cylinder (APC) based on a model of the spark ignition engine and a first set of possible target values determined based on an engine torque request and that generates a second predicted engine output torque and a second predicted mass of APC based on the model of the spark ignition engine and a second set of possible target values determined based on the engine torque request; a cost module that: determines a first cost for the first set of possible target values based on a first predetermined weighting value, the first predicted engine output torque, the engine torque request, a second predetermined weighting value, and the first predicted mass of APC; and determines a second cost for the second set of possible target values based on the first predetermined weighting value, the second predicted engine output torque, the engine torque request, the second predetermined weighting value, and the second predicted mass of APC; a selection module that selects one of the first and second sets based on the first and second costs and that sets target values based on the possible target values of the selected one of the first and second sets; and a throttle actuator module that controls opening of a throttle valve based on a first one of the target values.