There is no built-in way to start a circus with Upstart. I added the file circus.confto /etc/init:
start on filesystem and net-device-up IFACE=lo
exec /usr/local/bin/circusd /etc/circus.ini
My circus conf is in /etc/circus.ini
After that I can use sudo service circus...to control the process.
Updated with more information here: http://nathancahill.github.com/circus/
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