Can a defendant plead guilty or no contest to an uncharged offense or an offense that is not necessarily included in the charged offense?

^9. West allows a court to accept a plea of guilty or no contest to an uncharged offense or an offense that is not necessarily included in a charged offense notwithstanding the general rule that, when a defendant pleads not guilty, the court lacks jurisdiction to convict him or her of an offense that is neither charged nor necessarily included in the alleged crime. (West, supra, 3 Cal.3d at pp. 612-613.) In addition, a West plea "allows a defendant to plead guilty in order to take advantage of a plea bargain while still asserting his or innocence." (People v. Rauen (2011) 201 Cal.App.4th 421, 424.)