This was my problem and how I fixed it...
I had done everything everyone had mentioned above etc. but was still getting this error. Turns out I was using the uri's of http://java.sun.com/jsp/jstl/fmt
and http://java.sun.com/jsp/jstl/core
which were incorrect.
Try switching the uris from above to:
http://java.sun.com/jstl/fmt
http://java.sun.com/jstl/core
Also, make sure you have the correct jars referenced in your class path.