配置struts2后，启动tomcat提示找不到javax.servlet.Filter

严重: Exception starting filter strutsFilter
java.lang.NoClassDefFoundError: javax/servlet/Filter
at java.lang.ClassLoader.defineClass1(Native Method)
at java.lang.ClassLoader.defineClass(ClassLoader.java:791)
at java.security.SecureClassLoader.defineClass(SecureClassLoader.java:142)
at java.net.URLClassLoader.defineClass(URLClassLoader.java:449)
at java.net.URLClassLoader.access$100(URLClassLoader.java:71)
at java.net.URLClassLoader$1.run(URLClassLoader.java:361)
at java.net.URLClassLoader$1.run(URLClassLoader.java:355)
at java.security.AccessController.doPrivileged(Native Method)
at java.net.URLClassLoader.findClass(URLClassLoader.java:354)
at java.lang.ClassLoader.loadClass(ClassLoader.java:423)
at sun.misc.Launcher$AppClassLoader.loadClass(Launcher.java:308)
at java.lang.ClassLoader.loadClass(ClassLoader.java:356)
at org.apache.catalina.loader.WebappClassLoader.loadClass(WebappClassLoader.java:1595)
at org.apache.catalina.loader.WebappClassLoader.loadClass(WebappClassLoader.java:1526)
at org.apache.catalina.core.ApplicationFilterConfig.getFilter(ApplicationFilterConfig.java:269)
at org.apache.catalina.core.ApplicationFilterConfig.setFilterDef(ApplicationFilterConfig.java:422)
at org.apache.catalina.core.ApplicationFilterConfig.<init>(ApplicationFilterConfig.java:115)
at org.apache.catalina.core.StandardContext.filterStart(StandardContext.java:4072)
at org.apache.catalina.core.StandardContext.start(StandardContext.java:4726)
at org.apache.catalina.core.ContainerBase.start(ContainerBase.java:1057)
at org.apache.catalina.core.StandardHost.start(StandardHost.java:840)
at org.apache.catalina.core.ContainerBase.start(ContainerBase.java:1057)
at org.apache.catalina.core.StandardEngine.start(StandardEngine.java:463)
at org.apache.catalina.core.StandardService.start(StandardService.java:525)
at org.apache.catalina.core.StandardServer.start(StandardServer.java:754)
at org.apache.catalina.startup.Catalina.start(Catalina.java:595)
at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:57)
at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43)
at java.lang.reflect.Method.invoke(Method.java:601)
at org.apache.catalina.startup.Bootstrap.start(Bootstrap.java:289)
at org.apache.catalina.startup.Bootstrap.main(Bootstrap.java:414)
Caused by: java.lang.ClassNotFoundException: javax.servlet.Filter
at java.net.URLClassLoader$1.run(URLClassLoader.java:366)
at java.net.URLClassLoader$1.run(URLClassLoader.java:355)
at java.security.AccessController.doPrivileged(Native Method)
at java.net.URLClassLoader.findClass(URLClassLoader.java:354)
at java.lang.ClassLoader.loadClass(ClassLoader.java:423)
at sun.misc.Launcher$AppClassLoader.loadClass(Launcher.java:308)
at java.lang.ClassLoader.loadClass(ClassLoader.java:356)
... 32 more

web.xml中的过滤器配置：
<filter>
<filter-name>strutsFilter</filter-name>
<filter-class>org.apache.struts2.dispatcher.FilterDispatcher</filter-class>
</filter>
<filter-mapping>
<filter-name>strutsFilter</filter-name>
<url-pattern>*</url-pattern>
</filter-mapping>

请各位大侠帮忙看看