They set firm limits with children. Children generally obey. And respect is achieved. Authoritarian parents often confuse discipline and punishment. Punishment is an external force for controlling parents.
External forces are effective to a point.
Children will obey when the external force or threat is present but revolt against it when the force is removed. So, when a parent leaves a room or children are not under their control, they often do what they want because no internal sense of right and wrong is present in children. Discipline uses internal and external force to teach right from wrong. Parents use external force and model or guide children about right and wrong. This way children will follow the rules when parents are not around to enforce the rules.