As far as I can remember from my banking days, if you make a card purchase in a shop that is authorised, but then later your account doesn't have enough cash to cover the amount, you will go overdrawn as there is no way to "stop" you having the purchase (ie you've taken the goods home).
If it's for services (gas, c-tax, whatever), as long as the company have your debit card details all payments made will be seen as being authorised by you (exactly the same way they would be in a shop). The only way the bank won't pay is if the card is not linked to the account anymore, like when you've lost it or had it stolen. You could ask the bank to refund you the charges, but in actual fact they don't have to. Sorry :(