Fatal error: Uncaught exception 'Zend_Controller_Dispatcher_Exception' with message 'Invalid controller specified (error)'

By default Zend Framework has a front controller plugin that tries to send all exceptions and errors to a controller named ErrorController. If that controller is not found you will get this error.

The Zend Documentation explains how to make a simple error handler:

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class ErrorController extends Zend_Controller_Action
{
    public function errorAction()
    {
        $errors = $this->_getParam('error_handler');
        $exception = $errors->exception;
        $log = new Zend_Log(
            new Zend_Log_Writer_Stream(
                '/tmp/applicationException.log'
            )
        );
        $log->debug($exception->getMessage() . "\n" .
                $exception->getTraceAsString());
    }
}

This simple error handler will log all your errors into /tmp/applicationException.log. You can look at the Zend Framework documentation to learn how to handle different error scenarios based on the content of the $errors variable.

You will also need to create the respective view file for this controller. The default location for it will be: project/views/scripts/error/error.phtml