Scenario / Questions

I write my C++ program and run it as daemon by writing upstart script inside /etc/init/

So my program is automatically started after reboot and can be controlled
using sudo service my-service restart

How to allow to restart this service from another non-admin user (that is jenkins integration server)?

At present if my jenkins runs script

service my-service start

it gives me an error:
my-service: unrecognized service