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In this paper, a novel guaranteed cost congestion control (GCC) strategy is developed for a network of multi-agent systems with Differentiated Services (Diff-Serv) traffic. The network is represented by a nonlinear fluid flow model corresponding to two classes of traffic, namely the premium traffic and the ordinary traffic. The proposed congestion controller does take into account the associated physical network resource limitations and is shown to be robust to the unknown and time-varying network delays. Our proposed decentralized congestion control strategy is developed on the basis of Diff-Serv architecture by utilizing a guaranteed cost control technique. A Linear Matrix Inequality (LMI) condition is obtained to guarantee the ultimate boundedness of the closed-loop system. Numerical simulation results are presented by utilizing the QualNet and Matlab software tools to illustrate the effectiveness and capabilities of our proposed decentralized congestion control strategy.