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In edge computing environments, edge servers are deployed in networks in addition to centralized cloud servers. To design edge computing systems, we should consider multiple problems such as server placement and virtual machine allocation. This paper focuses on the joint optimization problem of edge sever placement and virtual machine placement. The problem determines location of edge servers in a network, and then allocates virtual machines to the edge servers. To do so, this paper proposes the optimization method based on mathematical programming formulations, which take into account the network load and the edge server load. Through numerical experiments, we show the performance of the proposed optimization methods.