To determine if your DHCP server is authorised, it's server icon in the DHCP console should have a green upward facing arrow over it when you epand it. Why would you want your DHCP server not authorised? You wouldn't really.
You also get this error message when trying to create a reservation that doesn't fall inside the scope/subnet of the scope you are trying to add it to.
Could you give details of the scope range/subnet and the reservation you're trying to add?