i have a corsa 2005 1.2 has done 83000 mile. ?

i have a corsa 2005 1.2 has done 83000 mile.
My EML has come on at first it went back off after a few hours of driveing around, but now its back on and has stayed on for 4 days. The car judders when im driveing below 40mph. The car dose not cut out and hasnt broke down at all. What could be the problem and how much is it going to cost.