The idea is that first, you can write any function as a quadratic polynomial plus a remainder. That is trivial, since the remainder is just the difference between the function and the polynomial. A Maclaurin expansion is useful only because there is a useful expression for the remainder -- which is "small" and therefore makes the approximation by the polynomial "close".
The problem is really one of finding a useful expression for the remainder. There are various forms for that remainder. What I showed (as best I could with problem that I was having with the Tex software) is a simple way to get the remainder by integrating by parts a couple of times. The process works iteratively and will produce a Maclaurin expansion of any degree that you like, so long as you can keep integrating by parts. That requires some level of differentiability -- it requires n+1 derivatives for an nth degree polynomial.
If you know nothiing whatever about the differentiability of the function then you are basically out of luck. That is because you have no good way to estimate the remainder.
Now, if you know something else about the function then depending on what that is one might be able to do something else -- I am not sure what at the moment.
Someone noted that a full blown Taylor series requires infinite differentiability. That is also true. In fact it requires more, It requires the function be not only infinitely differentiable but actually analytic, a much more restrictive condition. The point being that to approximate a function by a polynomial requires that you know something about the function.
What is the fundamental problem that you are trying to solve ?