This is a step by step instruction on how to create a cluster that has three Solr nodes running in cloud mode. These instructions should work on both a local cluster (for testing, with 3 virtual hosts) and a remote cluster where each server runs in its own physical machine.
This was tested on Solr version 6.2.1
and Zookeeper version 3.4.6
We will assume that the names of the hosts with the Zookeeper servers will be called: zserver1 zserver2 zserver3