I am looking for the command to specify ipsec security association lifetime.
I see the command for setting the lifetime on the isakmp session, but not for the ipsec lifetime. The command I found online is not good in my IOS release...
What is the version of IOS that you are running on the router.
You could use
"crypto ipsec security-association lifetime seconds xxxx" in the configuration that lifetime will apply to all the crypto maps configured on the router.
To change the IPSEC lifetime for a specific router, you need to configure the IPSEC lifetime under that specific crypto map. For example:
crypto map TEST 10 ipsec-isakmp
set peer 10.1.1.1
set security-association lifetime seconds xx
match address 100