A method, and a system using the method, of controlling a towing vehicle that is connected to a vehicle trailer. The method includes sensing a set of vehicle targets and a set of vehicle conditions in response to the set of vehicle targets. The method also includes determining a plurality of differences between the set of vehicle targets and the set of vehicle conditions, determining a trend of the plurality of differences, generating at least one of a symmetric signal and an asymmetric signal based on the trend, and actuating a vehicle system with the at least one of a symmetric signal and an asymmetric signal.