Start small. Give very adult citizen the same fixed amount. Deduct that amount from existing welfare payments. We now have a guaranteed universal Citizens's

Start small. Give very adult citizen the same fixed amount. Deduct that amount from existing welfare payments. We now have a guaranteed universal Citizens's "Basic" Income, albeit at a very low level, paid for by taxpayers via the normal progressive tax system and which primarily helps the working poor. Iron out all the inevitable implementation problems. Then raise the level to the minimum level for welfare payments and remove a swathe of bureaucracy. Observe the results while gaining a sensible Welfare System based upon "From each according to their ability, To each equally, with neither favour nor discrimination". Adjust as necessary.