To fix the Joomla Error on mod_rewrite apache server you can add the following code to the htaccess file in the Joomla directory.
########## Begin - Joomla! core SEF Section# RewriteCond %{REQUEST_FILENAME} !-f RewriteCond %{REQUEST_FILENAME} !-d RewriteCond %{REQUEST_URI} !^/index.php RewriteCond %{REQUEST_URI} (/|.php|.html|.htm|.feed|.pdf|.raw|/[^.]*)$ [NC] RewriteRule ^(.*) /index.php RewriteRule .* - [E=HTTP_AUTHORIZATION:%{HTTP:Authorization},L] ########## End - Joomla! core SEF Section#