I have the following textbox server control in my web page:
Put the <%= txtZip.ClientId %> between single quotes, to be like this:
<%= txtZip.ClientId %>
'<%= txtZip.ClientId %>'
Update
Please check this article: http://www.jagregory.com/writings/how-to-use-clientids-in-javascript-without-the-ugliness/
Also I like this answer