A proposal for the design of a reference trajectory for batch processes was developed, using set theory state controllability concepts. This proposal introduces the Available Control Action Set, which is an indicator of the state controllability and contains the largest amount of possible control actions that reach the desired final state. The volume of Available Control Action Sets can be maximized to improve the safety of batch processes while maintaining consistently high product quality. Thus, a closed loop system has sufficient energy to reject disturbances, ensuring end-of-batch product quality. Case studies are presented to demonstrate the applicability of the approach to batch and semibatch processes and to illustrate how the proposed method for the design of a reference trajectory for batch processes increases safe and robust operation.