An engine control system includes a saturation determination module, an adjustment factor generation module, and a fuel control module. The saturation determination module determines when a first exhaust gas oxygen (EGO) sensor is saturated, wherein the first EGO sensor is located upstream from a catalyst. The adjustment factor generation module generates an adjustment factor for an integral gain of a fuel control module when the first EGO sensor is saturated. The fuel control module adjusts a fuel command for an engine based on differences between expected and measured amounts of oxygen in exhaust gas produced by the engine, a proportional gain, the integral gain, and the integral gain adjustment factor.