Abstract: A system for a vehicle comprising of an engine including a first cylinder group and a second cylinder group; a linear exhaust gas sensor coupled exclusively to the first cylinder group; a switching exhaust gas sensor coupled exclusively to the second cylinder group; and a controller configured to operate the engine in at least a first mode and a second mode, where in the first mode the first and second cylinder groups combust air and fuel, where in the second mode at least one of the first and second cylinder groups combusts air and injected fuel and the other one of the first and second cylinder groups pumps air without injecting fuel, and where the controller is further configured to estimate torque of the engine in each of the first and second modes of operation based on the air-fuel ratio of the first cylinder group and the air-fuel ratio of the second cylinder group independent of the switching sensor and dependent on the linear sensor.