I show the error in detail as follows.
cvc-complex-type.2.4.a: Invalid content was found starting with element 'taglib'. One of '{"http://java.sun.com/xml/ns/javaee":description,"http://java.sun.com/xml/ns/javaee":display-name, "http://java.sun.com/xml/ns/javaee":icon,"http://java.sun.com/xml/ns/javaee":distributable"http:// java.sun.com/xml/ns/javaee":context-param, "http://java.sun.com/xml/ns/javaee":filter, "http://
java.sun.com/xml/ns/javaee":filter-mapping, "http://java.sun.com/xml/ns/javaee":listener,"http:// java.sun.com/xml/ns/javaee":servlet, "http://java.sun.com/xml/ns/javaee":servlet-mapping, "http://java.sun.com/xml/ns/javaee":session-config, "http://java.sun.com/xml/ns/javaee":mime-mapping,
"http://java.sun.com/xml/ns/javaee":welcome-file-list, "http://java.sun.com/xml/ns/javaee":error-
page, "http://java.sun.com/xml/ns/javaee":jsp-config, "http://java.sun.com/xml/ns/javaee":security-
constraint, "http://java.sun.com/xml/ns/javaee":login-config, "http://java.sun.com/xml/ns/
javaee":security-role, "http://java.sun.com/xml/ns/javaee":env-entry, "http://java.sun.com/xml/ns/
javaee":ejb-ref, "http://java.sun.com/xml/ns/javaee":ejb-local-ref, "http://java.sun.com/xml/ns/
javaee":service-ref, "http://java.sun.com/xml/ns/javaee":resource-ref, "http://java.sun.com/xml/ns/
javaee":resource-env-ref, "http://java.sun.com/xml/ns/javaee":message-destination-ref, "http://
java.sun.com/xml/ns/javaee":persistence-context-ref, "http://java.sun.com/xml/ns/
javaee":persistence-unit-ref, "http://java.sun.com/xml/ns/javaee":post-construct, "http://
java.sun.com/xml/ns/javaee":pre-destroy, "http://java.sun.com/xml/ns/javaee":message-
destination, "http://java.sun.com/xml/ns/javaee":locale-encoding-mapping-list}' is expected.
Add web.xml
<?xml version="1.0" encoding="UTF-8"?>
<web-app xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns="http://java.sun.com/xml/ns/javaee" xmlns:web="http://java.sun.com/xml/ns/javaee/web-app_2_5.xsd" xsi:schemaLocation="http://java.sun.com/xml/ns/javaee http://java.sun.com/xml/ns/javaee/web-app_2_5.xsd" id="WebApp_ID" version="2.5">
<display-name>Hello World Struts Application</display-name>
<servlet>
<servlet-name>action</servlet-name>
<servlet-class>org.apache.struts.action.ActionServlet</servlet-class>
<init-param>
<param-name>config</param-name>
<param-value>/WEB-INF/struts-config.xml</param-value>
</init-param>
<init-param>
<param-name>debug</param-name>
<param-value>3</param-value>
</init-param>
<init-param>
<param-name>detail</param-name>
<param-value>3</param-value>
</init-param>
<load-on-startup>1</load-on-startup>
</servlet>
<servlet-mapping>
<servlet-name>action</servlet-name>
<url-pattern>*.do</url-pattern>
</servlet-mapping>
<welcome-file-list>
<welcome-file>index.jsp</welcome-file>
</welcome-file-list>
<taglib>
<taglib-uri>/WEB-INF/struts-html.tld</taglib-uri>
<taglib-location>/WEB-INF/struts-html.tld</taglib-location>
</taglib>
<taglib>
<taglib-uri>/WEB-INF/struts-bean.tld</taglib-uri>
<taglib-location>/WEB-INF/struts-bean.tld</taglib-location>
</taglib>
<taglib>
<taglib-uri>/WEB-INF/struts-logic.tld</taglib-uri>
<taglib-location>/WEB-INF/struts-logic.tld</taglib-location>
</taglib>
<taglib>
<taglib-uri>/WEB-INF/struts-tiles.tld</taglib-uri>
<taglib-location>/WEB-INF/struts-tiles.tld</taglib-location>
</taglib>
</web-app>
Modify your web.xml so that all the taglib tags are contained in jsp-config tag. i.e:
<jsp-config>
<taglib>
<taglib-uri></taglib-uri>
<taglib-location></taglib-location>
</taglib>
</jsp-config>