02 VW Polo, emissions light came on and car is shuddering and loss of...

paull

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...acceleration. Any Ideas? Noticed this the other morning that the car was a bit shaky on start up, then emissions light was flashing, then on the drive came on fully. The usually good acceleration I enjoy from this car is gone too and it shudders quite badly in idle and lower gears. I filled my tank a few days ago, fuel was low (into red) but definitely not empty. Should I get this checked and any ideas how much this will be to get repaired?
 
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