Anosov representations of word hyperbolic groups form a rich class of discrete subgroups of semisimple Lie groups, generalizing classical convex cocompact groups of real rank one Lie groups. A large class of projective Anosov representations are Benoist representations. In this talk, we are going to give a characterization of Benoist representations in terms of the existence of limit maps. This is joint work with Richard Canary.