By "terminal access", I assume you mean a commandline interface via SSH or Telnet (or Serial connection), so Control::CLI comes to my mind.

On the machine from where you open the connection, "setuid root" doesn't help you, because the Linux webserver you're connecting to usually would have its own authorization checks. If something running on the Linux webserver - well, that's another can of worms… see e.g. OWASP Secure Coding Practices (this seems currently being migrated, archived here)