Oh this is a classic. I had the same problem and the solution is not documented by Cisco anywhere.
Here is the answer:
Your external radius server has to return a new CiscoAVPair attribute in the format:
CiscoAVPair:ACS:cisco-ip-pool-definition
The key thing in that Cisco AVPair is the prefix 'ACS' ... yes. I died laughing too...
The final value shown above (cisco-ip-pool-definition) can be replaced with anything and it does not relate to any IETF radius attribute - it's just a label. Just make sure that the label is the same as the value you enter into the Authorization Tab under Radius Token Identity Services in ISE GUI.
Let's say your Radius Token Identity Service is called EXTRADIUS, then in your actual Policies, you will refer to the returned value as
EXTRADIUS:cisco-ip-pool-definition
cheers