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Taylor's theorem expresses a sufficiently differentiable function as a finite Taylor polynomial plus a Taylor remainder. One convenient version assumes $f$ is $n+1$ times continuously differentiable on the segment between $a$ and $x$. Thenfor some intermediate point $\xi$, when $x\ne a$. Thus a bound $|f^{(n+1)}|\le M$ on that segment gives $|R_{n,a}(x)|\le M|x-a{|}^{n+1}/(n+1)!$. The intermediate point usually need not be computed: bounding the derivative throughout the segment is enough. This is why local approximation can yield reliable numerical bounds. A finite Taylor polynomial does not require an infinite Taylor series to represent the function.

Historically, the Royal Society holds Brook Taylor's letter of 26 July 1712 to John Machin. Its catalogue connects his work on Kepler's second law with the expansion later published in the 1715 Methodus incrementorum directa et inversa. This is a documented route from an orbital calculation to a general approximation method, rather than a claim that every earlier use of such expansions began with Taylor. See Royal Society archive, letter MS/82/2.