I got the same error while following an old tutorial with (not old enough) AngularJS 1.4.3. By far the simplest solution is to edit angular.js source from
function $ControllerProvider() {
var controllers = {},
globals = false;
to
function $ControllerProvider() {
var controllers = {},
globals = true;
and just follow the tutorial as-is, and the deprecated global functions just work as controllers.