Epc light help!!!
 

good day to all. i have a 2003 Audi A6 1.8T. Rcecetly I've been having a problem with the EPC light coming on and the car not passing 4000rpm. It only comes on when the car has been running for a while. Once i switch off for a couple hours the car drives like normal. Only thing I've realized is the acceleration pedal vibrates when I'm accelerating. When the EPC light comes on and I switch off the car gives trouble to start back. Really rough tumble. PLEASE HELP!!!