I am newbie in apache kafka and to understand kafka terminology I refer tutorialpoints. In link1 it use "bin/zkServer.sh start" command to start zookeeper server and In link2 it use "bin/zookeeper-server-start.sh config/zookeeper.properties".
Is there any difference between this two commands or both are same?
Both commands do the same, they start ZooKeeper.
The command zkServer.sh is from the ZooKeeper project.
The command zookeeper-server-start.sh is from the Kafka project. As it relies on ZooKeeper, it's useful to have a command to start it directly without needing the full ZooKeeper project.
The one you use typically depends how/why you use ZooKeeper. If it's while working on Kafka, you can use zookeeper-server-start.sh. If you only have ZooKeeper then used the other one.