An axle torque control system includes an axle torque request module that receives an axle torque request and that selectively outputs the axle torque request. An axle torque conversion module receives the axle torque request and converts the axle torque request to an engine torque request. A rate limit module receives the engine torque request and a pedal engine torque request and selectively adjusts the engine torque request based on the pedal engine torque request.