Dynamic Routing

What's the best way to go about setting up dynamic routing
so that I can redirect all my 'missing controller' errors to another
defined controller to perform operations on?

I basically want any error page to filter through the pages controller
(or any other controller I choose) so I can check the requested URL
and determine if the URL is valid or not.

I have some other defined controllers that I use as normal but I also
want the ability to define custom URLs for a page and then to be
able to pull the data for that page after checking the URL requested.

Should I use some sort of routing? Or is there another approach I
should use. I don't want to redirect ALL pages to the specified
controller since I have a couple other controllers that I use.

Also, is there a way that you can pass control from one controller
to another? For instance, I'm in the pages controller but is there a
way to jump to another controller on the fly?

Any help would be great.

Thanks.

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