Some next-generation gravitational-wave detectors, such as the American Advanced LIGO project and the Japanese LCGT project, plan to use power recycled resonant sideband extraction (RSE) interferometers for their interferometers optical configuration. A power recycled zero-detuning (PRZD) RSE interferometer, which is the default design for LCGT, has five main length degrees of freedom that need to be controlled in order to operate a gravitational-wave detector. This task is expected to be very challenging because of the complexity of optical configuration. A new control scheme for a PRZD RSE interferometer has been developed and tested with a prototype interferometer. The PRZD RSE interferometer was successfully locked with the control scheme. It is the first experimental demonstration of a PRZD RSE interferometer with suspended test masses. The result serves as an important step for the operation of LCGT.