You must include the jstl library in your distribution. This may be provided by the container, although that is not recommended practice. The maven dependency for the current version (as of writing) is here:
<dependency>
<groupId>javax.servlet</groupId>
<artifactId>jstl</artifactId>
<version>1.2</version>
</dependency>
Although, it’s always worth checking the maven central repository for updates.