In this recent post Tom Oram looks at a method he's put together for unit testing a controller in a Zend Framework v2-based application (using PHPUnit).
So far I've got a basic Zend Framework 2 Application up and running and got PHPUnit running & testing one of my models. Next up I wanted to try and workout how to test a controller. I had come to the conclusion that what I needed to do was create an instance of my controller in an environment where it I could get it to run each action I wanted to test.
He finally consulted how the actual framework's tests were doing it and borrowed the setup from that - including several packages (via a "use") and the creation of the controller instance inside the setUp() method of the test set. Some other basic config is set up too including routing and event handling. He also includes examples of how to test this instance effectively - one showing a request with a parameter and another checking to ensure the 404 handler works when a non-existant resource is called.