Basic configuration in IOS

aaa new-model
tacacs-server host 192.168.1.1 timeout 10 key sup36s3c63t
tacacs-server directed-request
aaa authentication login default group tacacs+ local enable
aaa authentication login SSH group tacacs+
aaa authentication login CONSOLE local
aaa authentication enable default group tacacs+ enable none
aaa authorization exec default group tacacs+ none
aaa authorization commands 15 default group tacacs+ none
aaa accounting exec default start-stop group tacacs+
aaa accounting commands 1 default start-stop group tacacs+
aaa accounting commands 15 default start-stop group tacacs+
aaa accounting network default start-stop group tacacs+
aaa accounting connection default start-stop group tacacs+
aaa accounting system default start-stop group tacacs+
aaa session-id common

line con 0
login authentication CONSOLE

line vty 0 4
login authentication SSH

Basic configuration in HP Procurve (as version WB.15.12.0010)
HP-2920-24G-PoEP(config)tacacs-server host 192.168.1.1 key sup36s3c63t
HP-2920-24G-PoEP(config)aaa authentication console login tacacs local
HP-2920-24G-PoEP(config)aaa authentication console enable tacacs local
HP-2920-24G-PoEP(config)aaa authentication ssh login tacacs local
HP-2920-24G-PoEP(config)aaa authentication ssh enable tacacs local

Tested using this TACACS+ config
Explanation for Cisco AAA Configuration
Explanation for HP Procurve AAA Configuration

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