In this paper, we present an efficient systematic encoding algorithm for quasi-cyclic (QC) low-density parity check (LDPC) codes that are related to cyclic maximum-distance separable (MDS) codes. The algorithm offers linear time complexity, and it can be easily implemented by using polynomial multiplication and division circuits. We show that the division polynomials can be completely characterized by their zeros and that the sum of the respective numbers of their zeros is equal to the parity-length of the codes.