The document proposes a middleware implementation of a queue-based quality of service (QoS) cycle for distributed systems. It defines QoS as quantitative and qualitative characteristics necessary to achieve an application's required functionality. The implementation uses message queues for each system component to provide simple QoS parameters. These parameters are then analyzed and combined to determine if user-defined QoS requirements are met. If not, the policy acts on the message queues. The system does not require a global QoS formulation as each component contributes to the overall QoS values. The implementation was tested on a robot simulator using agents with quantitative and qualitative parameters.