The best replacement for authoritarian is authoritative.

The best alternatives to authoritarian are rated as following:
★★★★★  authoritative
★★★  totalitarian
★★★  libertarian
★★★  democratic
★★  authoritative parenting
★★  autocratic
★★  permissive parenting
★  democracy
★  permissive
★  dictator
  authoritative parenting styles
  egalitarian
  authoritative parenting style
  non authoritarian
  nonauthoritarian
  participative
  dictatorship
  authoritative style

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Speaking about authoritarian, one probably shouldn't forget about authority.

Other search terms related to authoritarian and their ratings are:
★★★★★ authority
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Google Trends

Scale is based on the average worldwide traffic of authoritarian in all years. Click on graph for more.
authoritarian
authoritative
totalitarian