configure the following commands in the router it will work then check in ACS
aaa new-model
tacacs-server key
aaa authentication login default group tacacs+ line
aaa authentication enable default group tacacs+ enable
aaa authorization config-commands
aaa authorization exec default group tacacs+ if-authenticated
aaa authorization configuration default group tacacs+
aaa accounting send stop-record authentication failure
aaa accounting update newinfo
aaa accounting exec default start-stop group tacacs+
aaa accounting commands 15 default start-stop group tacacs+