We introduce length-sensing and control schemes for the dual-recycled cavity-enhanced Michelson interferometer configuration proposed for the Advanced Laser Interferometer Gravitational Wave Observatory (LIGO). We discuss the principles of this scheme and show methods that allow sensing and control signals to be derived. Experimental verification was carried out in three benchtop experiments that are introduced. We present the implications of the results from these experiments for Advanced LIGO and other future interferometric gravitational-wave detectors.