1. Cisco IOS Security Configuration Guide
Release 15M&T
"Implementing TACACS+": In the "Authorization Overview" section
it is stated
"Authorization is the process of granting or denying a user specific services or commands... Authorization is a separate function from authentication." This confirms that the failure is in a distinct step after successful authentication.
2. Cisco Identity Services Engine Administrator Guide
3.1
"Chapter: Device Administration": The section "Configure Policy Elements for Device Administration" details the configuration of "TACACS Profiles" and "Shell Profiles." It specifies that to grant EXEC shell access
a Shell Profile with appropriate privilege levels must be configured on the ISE (acting as the TACACS+ server) and applied to the user via a policy. An authorization failure occurs if no such policy matches or if the matching policy denies access.
3. Cisco IOS Security Command Reference
"aaa authorization": The documentation for the aaa authorization command explains that its purpose is to run authorization for a specific service (like exec for shell access) against the configured AAA server. The server's response dictates whether the user is granted access
and a denial from the server results in an authorization failure on the device.