Hi Vipin,
Choosing a AAA server is entirely your choice and depends on the design as well.
Here is the link that describes the difference between the two protocols.i.e. RADIUS and TACACS+
http://www.cisco.com/en/US/tech/tk59/technologies_tech_note09186a0080094e99.shtml
Radius is free server while for TACACS+ you will have to pay and configure in the ACS
Configuration on ASA will be something like this:
# create a local user account on PIX.
username XXXX password XXXX privilege 15
# define server tag and set deadtime to 0
aaa-server protocol tacacs
# define radius servers
aaa-server (inside) host [ip address] [secret key]
# for console/telnet/ssh/http authentication
# LOCAL at the end will let the authentication to fallback to local PIX.
aaa authentication serial console LOCAL
aaa authentication telnet console LOCAL
aaa authentication ssh console LOCAL
aaa authentication http console LOCAL
#for command accounting.
aaa accounting command
AAA server will vary depending on what you have as a AAA server.
Hope this helps.
Regards,
Anisha
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