I. Introduction
Transportation has always been a crucial aspect of human civilization, but it is only in the second half of the last century that the phenomenon of traffic congestion has become predominant due to the rapid increase in the number of vehicles and in the transportation demand in virtually all transportation modes. Traffic congestion appears when too many vehicles attempt to use a common transportation infrastructure with limited capacity. In the best case, traffic congestion leads to queueing phenomena (and corresponding delays) while the infrastructure capacity (“the server”) is fully utilized. In the worst (and far more typical) case, traffic congestion leads to a degraded use of the available infrastructure (reduced throughput), thus contributing to an accelerated congestion increase, which leads to further infrastructure degradation, and so forth. Traffic congestion results in excess delays, reduced safety, and increased environmental pollution. The following impressive statement is included in the European Commission's “White Paper—European Transport Policy for 2010”: “Because of congestion, there is a serious risk that Europe will lose economic competitiveness. The most recent study on the subject showed that the external costs of road traffic congestion alone amount to 0.5% of Community GDP. Traffic forecasts for the next 10 years show that if nothing is done, road congestion will increase significantly by 2010. The costs attributable to congestion will also increase by 142% to reach 80 billion a year, which is approximately 1% of Community GDP.” The control loop.