1. A method of controlling a towing vehicle connected to a vehicle trailer, the method comprising: sensing a set of vehicle targets for the towing vehicle; sensing a set of vehicle conditions indicative of movements exhibited by the towing vehicle in response to the set of vehicle targets; 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 to decrease the trend.