Do you have Image Processing Toolbox installed?
It was introduced in that toolbox in release R2013a, according to the documentation page, so if you have Image Processing Toolbox you have a new enough release to use it.
How are you calling outputLimits? According to its documentation page, the first input must be a "Geometric transformation, specified as a geometric transformation object." That documentation page has a list of the types of object outputLimits accepts as its first input. Calling it with a regular matrix as the first input will not work.