If you want to use Post Variables which will not be in Struts Form, you should bypass struts form and use simple html form with struts action classes. Some post variable without getter setter in struts form will throw the exception as you specified. So it is better to use HTML form to gain more flexibility. Off course we should write some functionalities for validation and others again for this type of form.
All we want to say that, you can use simple html forms with struts action classes without any issues. We have already done these type of works in our production applications.
Thanks