Is the term "bid'ah hasanah" (good innovation) found in Islamic law, and what are the restrictions on worship?

The term "bid'ah hasanah" (good innovation) applies to linguistic innovations, not to Shar'i (legal) innovations, because every Shar'i innovation is blameworthy, as the Prophet, peace and blessings be upon him, said: "And every innovation is misguidance." The conditions for the acceptance of worship are three: that it originates from a believer, that it is done with sincerity to Allah the Almighty, and that it conforms to what the Prophet, peace and blessings be upon him, brought.