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Differential rank is lower semicontinuous
Statement
Let be on an open set. For every natural , the locus is open. Thus is lower semicontinuous. In particular the submersion locus, the immersion locus, and every locus on which the derivative has the largest possible rank are open.
Facts & Assumptions
Given: A map and a natural number .
For , a matrix has rank at least exactly when it has a nonzero -rowed minor (A matrix has rank at least exactly when it has a nonzero -rowed minor, The rank of a derivative and constant-rank Euclidean maps, The Jacobian matrix of partial derivatives and the gradient in the scalar-valued case).
Each fixed-size determinant is a polynomial in the matrix entries, while the first partial derivatives of a map are continuous; sums, products, and composites of continuous Euclidean maps are continuous, and the empty set and whole metric space are open (For every fixed finite size at least one, the determinant of a real square matrix is a polynomial in its matrix entries, Euclidean maps and diffeomorphisms, Euclidean maps are closed under componentwise algebra and composition, The metric topology: a set is open when every one of its points has a ball around it inside the set; closed means open complement).
Proof
If , then ; if , then . Both sets are open.
Assume and fix . By [L1], one -rowed minor of is nonzero.
By [L2], the same minor is a continuous scalar function of . Its nonzero locus contains an open neighbourhood of , and [L1] gives .
Every point of therefore has an open neighbourhood inside it, and the two exceptional cases were settled in step 1.1. Hence is open for every , proving all stated consequences.
Depends on
The rank of a derivative and constant-rank Euclidean maps
A matrix has rank at least exactly when it has a nonzero -rowed minor
Euclidean maps and diffeomorphisms
The Jacobian matrix of partial derivatives and the gradient in the scalar-valued case
For every fixed finite size at least one, the determinant of a real square matrix is a polynomial in its matrix entries
Euclidean maps are closed under componentwise algebra and composition
The metric topology: a set is open when every one of its points has a ball around it inside the set; closed means open complement