One precise version of the Taylor theorem with Lagrange remainder is as follows. Let , let and its derivatives through order be continuous on the closed interval between distinct points and , and suppose exists throughout its interior. Then some strictly between and satisfies
Here the endpoint derivatives are understood as restrictions of derivatives defined near the interval, or as their continuous one-sided extensions. No continuity of is required. For the equality is immediate with zero remainder.
To prove the formula, write the Taylor polynomial as and define
Then , and for . The Rolle theorem gives a zero of strictly between and . If , apply the Rolle theorem to between and , using , to get a zero of . Repeating produces a point strictly between and with . Each application is justified by continuity on the relevant closed interval and differentiability in its interior; the same construction works when .
Since has degree at most ,
Substituting this value of into its definition proves the displayed Taylor theorem with Lagrange remainder.
The assumed differentiability makes continuous. The identity then implies inductively that has continuous derivatives of every order and
Fix . By the extreme value theorem, the continuous function is bounded on the closed interval between and ; let be its maximum. Applying the Taylor theorem with Lagrange remainder about gives some between and such that
For the last factor, successive ratios are , which are at most once is sufficiently large. A geometric sequence bound therefore proves that . The partial sums converge to , so
At the equality follows directly from . The proof obtains this Taylor series solely from the differential identity, continuity on a fixed finite interval, and the Taylor remainder estimate.

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