Promoting sustainable development is a crucial challenge for innovation systems as responsible for technological change. This challenge has brought about the emergence of inclusive innovation systems, which operate from the vision of social inclusion. This implies the presence of structural changes in the innovation system¿s function - conventionally accepted - of generating, diffusing, and using knowledge; and, in turn, in the constitutive elements of the system, such as the agents¿ roles and the capabilities required to contribute to the achievement of this function. These changes impact on the dynamics and complexity of the systems, whose understanding becomes one of the challenges of the research agendas of the global south countries. Therefore, in this article, an analysis of the involved agents¿ role and capabilities is carried out. With these inputs, it is made a proposal for the configuration of inclusive innovation systems, which considers the presence of scientific knowledge and community knowledge, innovation capabilities, and capabilities for inclusion in innovation dynamics.