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I'm not absolutely sure if this is the issue with your car but it might help. I have a 99 Saturn SL1 that had an irregular idle (constantly idled high and erratic) and the service engine soon light would come on every now and then. I had auto zone check my car with a code scanner (they'll do it free of charge). The scanner came up with a cylinder misfire code. At this point it could be the spark plugs and/or wires, intake manifold gasket or both.
---NOTE: If the plugs and plug wires haven't been changed in a while go ahead and do so, it's cheap and will help the car run better, it's good to change the PCV Valve and Air Filter as well because they can cause bad idling.
To check the intake manifold gasket.
--Take some throttle intake cleaner or carburetor cleaner spray and while the car is running spray some of the cleaner on each of the intake manifold bolts (where the intake manifold connects to the engine block) and along the seem that connects the intake manifold to the engine block. If the idle suddenly changes or the car almost stalls you know that is the issue (mine was so bad that it stalled right away). If you have any experience working on cars you can change the gasket yourself but without any step by step instructions it can take a while. It took me about a day. If you do this at home try to clean or have the intake manifold and throttle intake cleaned, there can be a lot of sediment caked up in there inhibiting the performance and power of the car.
If none of this works I was told as well that it could be one of the units or its electrical connectors that are attached to the throttle intake (I believe one is the EGR valve) but they looked good when I replaced the intake gasket and I haven't had any issues since then.
In the process of checking stuff keep an eye out for disconnected vacuum hoses. Any type of disruption along the cars air intake stages and sometimes exhaust stages can inhibit smooth idling.
Hopes this helps --Good luck
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