Invalid Controller Specified Error, even though the controller is present
$routeMenuItem = new Zend_Controller_Router_Route('/menu-item/:action/:menu/:parent/:id/*', array(
        'controller'    => 'MenuItem',
        'action'        => 'index',
        'menu'          => 1,
        'parent'        => 0,
        'id'            => 0
    ));

File Name: MenuItemController.php
Class Name: MenuItemController

#0 /../library/Zend/Controller/Front.php(954): Zend_Controller_Dispatcher_Standard->dispatch(Object(Zend_Controller_Request_Http), Object(Zend_Controller_Response_Http))
#1 /../library/Zend/Application/Bootstrap/Bootstrap.php(97): Zend_Controller_Front->dispatch()
#2 /../library/Zend/Application.php(366): Zend_Application_Bootstrap_Bootstrap->run()
#3 /../public/index.php(25): Zend_Application->run()
#4 {main}

array (
  'action' => 'index',
  'menu' => '2',
  'controller' => 'MenuItem',
  'parent' => 0,
  'id' => 0,
)

File Name: MenuitemController.php
Class Name: MenuitemController