  Within the framework of finite element systems, we show how spaces of
differential forms may be constructed, in such a way that they are equipped
with commuting interpolators and contain prescribed functions, and are minimal
under these constraints. We show how various known mixed finite element spaces
fulfill such a design principle, including trimmed polynomial differential
forms, serendipity elements and TNT elements. We also comment on virtual
element methods and provide a dimension formula for minimal compatible finite
element systems containing polynomials of a given degree on hypercubes.
