The theory of limited government contends that all power exercised by the government is derived from the people. The people delegate to government those powers that they would otherwise exercise individually to protect their lives, liberties, and properties. The “limit” on government is what is delegated. Whatever power the people have delegated, the government can legitimately exercise. It may not exercise powers not delegated. In this way, no citizen is subject to power that he has not (in theory) consented to. While written constitutions and representative elections are never unanimous, the will of the majority of the people substitutes for unanimous consent.
From the article: But Don’t Libyans Have a Right to Freedom Too?
Although I haven’t read it, you may also want to check out his book, A Return to Common Sense: Reawakening Liberty in the Inhabitants of America.