Does anybody know, either good websites or books which can help us setup a Tacacs+ (tacplus) server?
Any help would be appreciated. Thanks
You can read book from Cisco Press "Routing TCP/IP Volume II" by Jeff Doyle. It has one chapter on router management, including configuring tacacs+ authentication on cisco IOS and configuring the tacacs+ server.
Tacplus installation is very easy, and you can configure the server via tacplus.conf by instruction on that book.