Zend Framework:: URL Routing

Hi

I have an application in ZF with an admin panel in it. Currently the name of my admin panel controller is AdminPanelController.

Currently to access the control panel, I type the url http://domain.com/admin-panel

what I want is, if I type http://domain.com/admin, the url should route to the AdminPanel controller and a index action. Likewise, if I type http://domain.com/admin/add-user, the url should route to the AdminPanel controller and the addUserAction action

How do we do url routing in zend for the above scenario?

Any help will be appreciated.

Thanks