HANNOVER, Germany -- Lukas Rosol defeated 18-year-old Davis Cup debutant Alexander Zverev 6-2, 6-3, 6-1 to book a place for the Czech Republic in the quarterfinals with a 3-2 win over Germany on Sunday.
Rosol, ranked 50th in the world, had 13 aces and converted half of his 12 break points to win in 1 hour, 38 minutes.
"It's bitter that I lost the decisive match," Zverev said. "I tried everything but today I don't know what I could do."
Berdych, ranked seventh in the world, retired after more than 100 minutes against Germany's top player. Berdych had received lengthy treatment after the fifth game of the first set.
"I think it was the second or third game when I ran for a drop shot and then stretched for the passing shot and I felt pain in my right hamstring," Berdych said.
Kohlschreiber converted three of his five break points while Berdych failed on all of his eight chances.
The Czech Republic next faces France in July's quarterfinals as it bids for its third title in five years.
Germany goes into September's playoffs after its second successive first-round exit.
Serbia edges Kazakhstan
Serbia will face Britain in the next round.
"I was nervous," Troicki said. "Thank you Novak for the amazing victory."
Top-ranked Djokovic, recovering from an eye infection but also struggling with apparent thigh problems, fought back in the 4-hour, 57-minute match played before the final rubber of the five-match series.
"This is probably the most psychologically and physically difficult match in my career," Djokovic said. "Kukushkin played so well that he probably deserved to win."
Djokovic and Murray, currently the top-ranked players, are likely to face each other in the quarterfinals of the Davis Cup in Serbia in July.
Croatia advances to quarterfinals
The 19-year-old Coric hit seven aces and converted four of five break chances against Coppejans, ranked 122nd in the world.
Croatia, which qualified for the cup quarterfinals for the first time in four years, will take on the United States in July.
Coric sealed the match with an ace.
Cilic, the 2014 U.S. Open champion, saved a match point at 5-6, 15-40, but hit a double fault on his next serve.
Belgium reached its first final in 111 years in 2015 before losing to Britain.
France completes 5-0 rout of Canada
BAIE-MAHAULT, Guadeloupe -- France swept Canada 5-0 by capturing the final two singles matches in their first-round tie.
Tsonga and Gasquet sent France into the quarterfinals on Saturday with a straight-sets victory in the doubles match after Gilles Simon and Gael Monfils won their opening singles in straight sets on Friday.
The nine-time Davis Cup champion will travel to face the Czech Republic in the quarterfinals in July.
The Associated Press contributed to this report.