[There] never was a Government without force. What is the meaning of Government? An institution to make people do their duty. A Government leaving it to a man to do his duty, or not, as he pleases, would be a new species of Government, or rather no Government at all.Quoted in Max M. Edling's A Revolution in Favor of Government, and attributed to the Virginia ratifying convention, Doc. Hist. v. 10, I 302.
Thus Madison would have understood that libertarian minarchism without taxation is incoherent.