A system for controlling a vehicle that includes an engine comprises a controller having an input for receiving an engine torque input command indicative of a desired amount of torque to be generated by the engine, and an output for providing an engine torque output command to the engine. A torque sensor is operatively connected to the engine and the controller. The torque sensor is adapted to measure torque output of the engine and to transmit a signal indicative of the measured torque to the controller. The controller is configured to adjust the engine torque output command provided to the engine using torque feedback control based on the signal received from the torque sensor.