Foundations in Analysis and Geometry on

Manifolds (V3D3/F4D1)

Matthias Lesch
Mathematisches Institut, Universität Bonn, Endenicher Allee 60,
53115 Bonn, Germany
Email address: lesch@math.uni-bonn.de
URL: www.math.uni-bonn.de/people/lesch
Abstract. Winter Semester 2022/2023
Predecessors: Global Analysis 2004-2016, c Matthias Lesch
 Contents

List of Figures 5
Preface 6
Chapter 1. Differentiable manifolds 7
1. From submanifolds to differentiable manifolds 7
1.1. Differentiable manifolds 7
1.2. Examples of manifolds 9
1.3. Smooth Maps 10
2. Partition of unity 10
2.1. Paracompactness 10
2.2. Bump functions and partition of unity 11
3. The tangent space 13
3.1. Motivation and Definition 13
3.2. Simple properties 14
3.3. Dimension 15
Appendix A. 17
1. Structure theorems for differentiable maps 17
1.1. Implicit Function Theorem 17
1.2. Inverse Function Theorem 17
1.3. Rank Theorem 17
Bibliography 19

3
 List of Figures

1 The separation axiom for topological spaces. 7

2 Simple equivalence relation on R leading to a non-separated “manifold”. 8
3 The function f1 (x) = e−1/x for x > 0 and 0 for x ≤ 0. 11
f1 (x)
4 The function f2 (x) = f1 (x)+f1 (1−x)
. 12
5 The function f3 (x) = f2 (2 + x) · f2 (2 − x). 12
6 Given a closed set A ⊂ M and an open neighborhood G ⊃ A there is a
smooth function which is identically 1 on A and identically 0 outside G. 14

5
6 LIST OF FIGURES

Preface
Here goes the preface.
 CHAPTER 1

Differentiable manifolds
Lecture 01,
1. From submanifolds to differentiable manifolds 12.10.2022,
Lennart
We recall from Analysis II/III the notion of a differentiable submanifold of Ronge
n
R :
M ⊂ Rn is calleda differentiable
submanifold if it is locally of
the form M∩U = F = 0 , where F : U −→ Rn−k is a submersion.
Our first goal is to define manifolds independently of an embedding into an
ambient Rn .

1.1. Differentiable manifolds.

Definition 1.1. 1. A topological space X is called separated (resp. a Hausdorff
space), if for each pair of distinct points x, y ∈ X, x 6= y there exist open disjoint
neighborhoods Ux 3 x, Uy 3 y (i. e. Ux ∩ Uy = ∅). Cf. Figure 1.
2. X is said to have a countable basis if there exists a countable family (Un )n∈N of
open subsets with the following property: given x ∈ X and an open neighborhood U of x
there exists an n ∈ N such that x ∈ Un ⊂ U.

Definition 1.2. Let X be a separated topological space.

1. A chart is a pair (U, ϕ) consisting of an open subset U ⊂ X and a homeomorphism
ϕ : U −→ V ⊂ Rn onto an open n
 subset V ∈ R .
2. A family of charts A = (Uα , ϕα )  α ∈ I is called an atlas, if
[
X= Uα .
α∈I

3. The atlas A is called C∞ (Ck , analytic, continuous, algebraic, linear,. . . ), if ϕα ◦

∞
ϕ−1β is C (Ck , analytic, . . . ) for all α, β ∈ I. Note that ϕα ◦ ϕ−1
β maps ϕβ (Uα ∩ Uβ )
onto ϕα (Uα ∩ Uβ ).
4. A chart (U, ϕ) is C∞ (Ck , . . . )–compatible with the atlas A if ϕα ◦ ϕ−1 is C∞
(. . . ) for all α, β ∈ I.

Ux ∩ Uy = ∅

Ux x• y• Uy

Figure 1. The separation axiom for topological spaces.

7
8 1. DIFFERENTIABLE MANIFOLDS

∞ 1
0
−1 0 1 −∞ −1

Figure 2. Simple equivalence relation on R leading to a non-

separated “manifold”.

Amax = (U, ϕ)  (U, ϕ) compatible with A is the maximal atlas associated to


A.
5. A C∞ (Ck ,. . . ) manifold is a pair (M, A) consisting of a separated topological
space M with a countable basis and a maximal C∞ (Ck ,. . . ) atlas A.
Remark 1.3. 1. In view of Def. 1.2, 4., it suffices to provide some (as small as
possible) atlas.
2. Whitney showed that every Ck –structure, k ≥ 1, already contains a C∞ –
structure. Therefore we only consider smooth (C∞ –)manifolds.
The case C0 is more complicated, though from the point of view of differential
topology it is not that interesting.
3. There exist C0 –manifolds which do not admit a differentiable structure,
e. g. in dimension 4.
4. A C0 –manifold may admit several non-equivalent C∞ –structures, i. e. there
exist C∞ –manifolds which are homeomorphic but not diffeomorphic.
For example a famous result due to Milnor says that the 7–sphere S7 admits
exactly 28 different C∞ –structures.
5. The assumption that a manifold should have a countable basis is made for
convenience. It guaranties paracompactness and the existence of a partition of
unity (see Section 2 below). “Manifolds” which do not have a countable basis
can only be constructed using set theoretic tools like Zorn’s Lemma. Therefore,
from a pragmatic point of view they are not of much use.
6. The condition that a manifold should be separated excludes pathologies,
as illustrated by the next example.

Example 1.4 (cf. Figure 2). On the one-dimensional manifold R (!) consider the
equivalence relation
x ∼ y ⇐⇒ x = y or |x| = |y| > 1,
and let X = R/ ∼ be the quotient space with the quotient topology. Equivalence
classes are denoted by [·].
We define the charts U1 = (−∞, 1)/ ∼, ϕ−1
1 : (−∞, 1) → X, x 7→ [x] and U2 =
(−1, ∞)/ ∼, ϕ2 : (−1, ∞) → X, x 7→ [x]. The ϕj , j = 1, 2, are homeomorphisms,
−1

X \ U1 = {[1]}, X \ U2 = {[−1]} and thus X = U1 ∪ U2 . Furthermore, U1 ∩ U2 =

X \ {[±1]} and

x, |x| < 1,
1 : (−∞, 1) \ {−1} −→ (−1, ∞) \ {1},
ϕ2 ◦ ϕ−1 x 7→
−x, |x| > 1,
 1. FROM SUBMANIFOLDS TO DIFFERENTIABLE MANIFOLDS 9
 
showing that (Uj , ϕj )  j = 1, 2 is a smooth atlas. However, X is not separated
 points {[±1]}
since the two do not
have∞disjoint open neighborhoods.
In sum {(Uj , ϕj )} j = 1, 2 is a C –atlas of the non-separated manifold X.


Some authors deal with non-separated manifolds. We do not want to deal
with such pathologies and therefore in this text X is not considered to be a
manifold.
partly in Lec-
1.2. Examples of manifolds. 1. M = Rn , A = (Rn , id). Thus we have the ture 02,
17.10.2022
reassuring fact that the Euclidean standard space with the atlas consisting of the
only chart id is a smooth manifold.
2. Every C∞ –submanifold of Rn (in the sense of Analysis II) with the at-
las consisting of all pairs (ϕ(U), ϕ−1 ), where ϕ : U −→ M runs through the
parametrizations of M, is a C∞ –manifold.
3. Projective spaces. Let K = R or C and denote by KPn the set of all lines in
Kn+1 , that is KPn = (Kn+1 \ {0})/ ∼ is the quotient with respect to the equivalence
relation
x ∼ y : ⇐⇒ x = λy for some λ ∈ K \ {0}
⇐⇒ x, y linearly dependent over K.
Furthermore, since every line contains a point on the sphere we have
RPn = Sn /(x ∼ −x) = Sn /(Z/2Z), CPn = S2n+1 / ∼ = S2n+1 /S1 .
This shows that the sphere is a two-fold covering of the real projective space and
that the complex projective space is the homogeneous space obtained from the
natural S1 action on odd spheres which sit inside Cn+1 .
Points in KPn are usually written in the form [x] = [x0 : . . . : xn ] with
(x0 , . . . , xn ) ∈ Kn+1 \ {0}. These are called homogeneous coordinates since they
are unique only up to multiplication by a nonzero number in K.
We define a smooth atlas for KPn as follows:
 
Uj := [x0 : . . . : xn ] ∈ KPn  xj 6= 0
xi

ϕj : Uj −→ Kn , [x0 : . . . : xn ] 7→ .
xj i=0,...,n; i6=j
ϕj is certainly a homeomorphism. We compute the change of coordinates,
w. l. o. g. let 0 ≤ i < j ≤ n. Then
 
ϕi (Ui ∩ Uj ) = y ∈ Kn  yj 6= 0 ,
and
ϕj ◦ϕ−1
i (y1 , . . . , yn )
= ϕj ([y1 : . . . : yi−1 : 1 : yi : . . . : yj : . . . : yn ])
y1 yi−1 1 yi yj−1 yj+1 yn
= ( ,..., , , ,..., , , . . . , ).
yj yj yj yj yj yj yj
 
Thus (Uj , ϕj )  0 ≤ j ≤ n is even a rational (algebraic) atlas of KPn .
4. Abstract tori. Let ω1 , . . . , ωn ∈ Rn be an R–basis. Then ÜÜ
Γ := Z · ω1 + · · · + Z · ωn
 10 1. DIFFERENTIABLE MANIFOLDS

is called a lattice in Rn . Construct a smooth atlas for the quotient space Rn /Γ and
show that it is diffeomorphic to the n–torus T n := S1 × . . . × S1 (n factors).
cn = Rn ∪ {∞}. Topologically this is the Alexandroff(=one-point) compact-
5. R
ification of Rn . We define an atlas consisting of two charts:
cn \ {∞} = Rn , ϕ∞ (x) = x,
U∞ = R

cn \ {0}, ϕ0 = |x|2 , x 6= ∞,
x
U0 = R
0, x = ∞.
We have U0 ∩ U∞ = Rn \ {0} and ϕ0 ◦ ϕ−1
∞ (x) =
x
|x|2
, which is certainly smooth.
∼ Sn (diffeomorphism).
cn =
Exercise 1.5. Show that R
1.3. Smooth Maps. In the sequel we denote (C∞ )–manifolds just by one let-
ter, e. g. M. An atlas is always tacitly assumed to be given.
Definition 1.6. f : M −→ N is called differentiable, if for each p ∈ M there exist
charts (Up , ϕp ), (Uq , ϕq ) 1 , q = f(p), such that ϕq ◦ f ◦ ϕ−1
p is differentiable in a
neighborhood of ϕp (p). Note that ϕq ◦ f ◦ ϕp is defined on the (open) set ϕp (f−1 (Uq ) ∩
−1

Up ).
If the condition of the definition is satisfied then for arbitrary charts (U, ϕ)
Lecture 02, of M and (V, ψ) of N the composition ψ ◦ ϕ−1 is differentiable on ϕ(f−1 (V) ∩ U).
17.10.2022
Remark 1.7. 1. In Def. 1.6 the requirement that ϕq ◦ f ◦ ϕ−1 p is defined in a neigh-
borhood of ϕp (p) ensures that smooth maps are continuous; hence f−1 (Uq ) ∩ Up
must indeed be open.
2. The composition of differentiable maps is differentiable.
3. f ∈ C∞ (M, N) is called a diffeomorphism if f is bijective and f−1 ∈ C∞ (N, M).
By the Inverse Function Theorem this is equivalent to the fact that f is bi-
jective and for all p ∈ M its derivative ( cf. Section 3 below) Dp f is invertible.
Charts are important examples of diffeomorphisms.

2. Partition of unity
In this section we discuss in detail the consequences of the assumption that
manifolds are second countable (i. e. have a countable basis).
2.1. Paracompactness.
Definition 2.1 (Paracompact). A topological space X is called paracompact, if each
open covering (Ui )i∈I of X has a locally-finite refinement (Vj )j∈J .
(Vj )j∈J is a refinement of Ui , if for each j ∈ J there exists an i ∈ I such that Vj ⊂ Ui .
if for each x ∈ X there exists an open neighborhood U such
 j )j∈J is locally-finite,
(V
that j ∈ J U ∩ Uj 6= ∅ is finite.


Proposition 2.2. Let (M, A) be a C∞ –manifold in the sense of Definition 1.2. Then M
is paracompact.
1
This notation implies p ∈ Up .
 2. PARTITION OF UNITY 11

1 2 3

Figure 3. The function f1 (x) = e−1/x for x > 0 and 0 for x ≤ 0.

In more detail, if (Uα )α∈A is an open covering then there exists a (at most) countable
locally-finite refinement (Vβ )β∈B . Moreover, Vβ can be chosen in such a way that there
exist charts

ψβ : Vβ −→ B(0, 3) = x ∈ Rn  |x| < 3


with [
ψ−1


M= β B(0, 1) .
β∈B

Proof. M is locally compact and second countable. Thus there exists an ex-
haustion by compacta K1 ⊂ K̊2 ⊂ K2 ⊂ K̊3 ⊂ . . . such that M = ∞
S
j=1 Kj .
Kj+1 \ K̊j is compact and hence for p ∈ Kj+1 r K̊j there exists a chart (Vp , ϕp )
with ϕp (Vp ) = B(0, 3), Vp ⊂ K̊j+2 \ Kj−1 , and Vp ⊂ Uα for some α ∈ A.
By compactness there exist finitely many points pj1 , . . . , pjrj , such that the
compact set
rj
[
Kj+1 \ K̊j ⊂ ϕ−1
jl (B(0, 1)), ϕjl := ϕpjl .
l=1

Since Vp ⊂ K̊j+2 \ Kj−1 the family Vjl , ϕjl

j=1,2,... is a countable locally-finite re-
1≤l≤rj
finement of (Uα )α∈A . 

2.2. Bump functions and partition of unity. We first construct a few smooth
helper functions.
 1
e− t , t > 0, f1 (t)
f1 (t) := f2 (t) := , (2.1)
0, t ≤ 0, f1 (t) + f1 (1 − t)
f3 (t) := f2 (2 + t)f2 (2 − t), f4 (x) := f3 (|x|), x ∈ Rn . (2.2)
One learns in Analysis I that f1 (Figure 3) and hence f2 , f3 , f4 are indeed smooth.
Proposition 2.3 (Partition of Unity). Let M be a C∞ –manifold and (Uα )α∈A an open
covering. Then there exist ϕn ∈ C∞ (M), n ∈ N, with the following properties:
(1) 0 ≤ ϕn ≤ 1,
(2) (supp ϕn )n is locally-finite,
(3) For each n the support of ϕn is contained in some Uα ,
P∞
(4) ϕn (p) = 1 for all p ∈ M.
n=1
 12 1. DIFFERENTIABLE MANIFOLDS

0
1

f1 (x)
Figure 4. The function f2 (x) = f1 (x)+f1 (1−x)
.

−2 −1 1 2

Figure 5. The function f3 (x) = f2 (2 + x) · f2 (2 − x).

If A ⊂ N then A can be chosen as index set for the partition. More precisely, one
finds (ϕα )α∈A satisfying (1), (2), (4) and (3’): supp(ϕα ) ⊂ Uα .
Because of (3) (ϕn ) is called a partition of unity subordinated to the open covering.
Lecture 03,
19.10.2022
Proof. Let Vn , ψn : Vn −→ B(0, 3) as in Prop. 2.2. Put

f4 (ψn (x)), x ∈ Vn ,
ϕ(x)
e :=
0, x∈/ Vn ,

and
X
∞
ϕ
e n ∈ C∞ (M),
fn
ϕ
e := ϕ ϕn := .
n=1
ϕ
e

Since ψn−1 (B(0, 1))covers M the function ϕ e is everywhere positive. By the locally-
finiteness of the Vn the sum is also locally-finite and hence ϕ e is indeed smooth.
The family (ϕn ) therefore satisfies (1)–(4). Note that the functions ϕn are by
construction even compactly supported.
Now consider A ⊂ N and let the ϕn be given as above. First, we enlarge the
index set of the definition of the covering (Uα ) by putting Uk := ∅ if k ∈ N \ A.
Then define inductively
 
J0 := i ∈ N  supp ϕi ⊂ U0 ,
 
Jk := i ∈ N  i 6∈ J0 ∪ . . . ∪ Jk−1 , supp ϕi ⊂ Uk .
 3. THE TANGENT SPACE 13
S
Then, Ji ∩ Jj = ∅ for i 6= j and N = i∈N Ji is a partition of the natural numbers
and we may put
X
χk := ϕi .
i∈Jk

By construction χk = 0 if k 6∈ A and by locally-finiteness of the supports of the

ϕn the functions χk are smooth. Furthermore, we have
(1) 0 ≤ χα ≤ 1,
(2) (supp
P χα )α∈A is locally-finite,
(4) χα (p) = 1 for all p ∈ M.
α∈A
It remains to show that supp χα ⊂ Uα . It is a priori not obvious that supp χα =
∪i∈Jα supp ϕi as the union might be infinite and an infinite union of closed sets
is not necessarily closed. Here, this is however the case as the family (supp ϕi )i
is locally finite. We prove the a priori weaker but sufficient statement supp χα ⊂
Uα :
To this end let p 6∈ Uα . Since (supp ϕi )i is locally-finite we may choose an
open neighborhood U 3 p such that
 
B = i ∈ N  U ∩ supp ϕi 6= ∅
is finite. Pick i ∈ B. If supp ϕi ⊂ Uα then since, p 6∈ supp ϕi we find a smaller
open neighborhood U 0 3 p such that U ∩ supp ϕi = ∅ and hence be may re-
move i from B. Since B is finite after finitely many steps we arrive at an open
neighborhood U e 3 p such that Ue ∩ supp ϕi 6= ∅ implies supp ϕi 6⊂ Uα . But this
means that χα vanishes on U and hence p 6∈ supp χα . We have thus shown that
supp χα ⊂ Uα and we are done. 
Remark 2.4. Note that the functions ϕn constructed in the proof of Proposition
2.3 are by construction even compactly supported. In the situation of the second
part on the other hand this is not always true. The functions χα are supported
in Uα but in general the support will just be a closed set.
Proposition 2.5. Let A ⊂ M be a closed subset and G ⊂ M open with A ⊂ G. Then
there exists f ∈ C∞ (M) with 0 ≤ f ≤ 1 and

1, p ∈ A,
f(p) =
0 p∈ / G.
See Figure 6.
Proof. {M \ A, G} is a finite open covering. Let {ϕ0 , ϕ1 } be a subordinated
partition of unity. Then f = ϕ1 does the job. 

3. The tangent space

3.1. Motivation and Definition. Let F : Rn −→ R be a submersion and M =
{F = 0}. Then the tangent space to M at p is given by

⊥
Tp M = γ 0 (0) ∈ Rn  γ : I → M ⊂ Rn curve , γ(0) = p = grad F(p) .

14 1. DIFFERENTIABLE MANIFOLDS

A
 

Figure 6. Given a closed set A ⊂ M and an open neighborhood

G ⊃ A there is a smooth function which is identically 1 on A and
identically 0 outside G.

Here, by slight abuse of language under a “curve”, unless otherwise said, we will
understand a smooth curve. This definition of tangent space uses the embedding
M ,→ Rn and hence it cannot be used for general manifolds.
However, every v ∈ Tp M defines a directional derivative v : C∞ (M) −→ R as
follows: choose a curve γ : I −→ M with γ(0) = p, γ 0 (0) = v, and put
d 
vf :=  f(γ(t)).
dt t=0
vf depends only on v (i.e. on γ(0) and γ 0 (0) but not any further on γ). Moreover,
f 7→ vf is a derivation, that is it is linear and it satisfies Leibniz’ rule
v(f · g) = v(f) · g(p) + f(p) · v(g).
Definition 3.1. Let M be a C∞ –manifold. A linear map Xp : C∞ (M) −→ R is called
a derivation at p if it satisfies Leibniz’ rule
Xp (f · g) = f(p) · Xp g + g(p) · Xp f.
The tangent space at p, Tp M, is by definition the vector space of all derivations at p.
Note that a priori Tp M is a subset of the dual space C∞ (M)∗ of C∞ (M) and
since linear combinations of derivations are again derivations, Tp M is indeed a
subspace of C∞ (M)∗ .

3.2. Simple properties.

3.2.1. Let ϕ ∈ C∞ (M) be a smooth function which is constant in a neigh-
borhood of p. Then Xp ϕ = 0 for every Xp ∈ Tp M.
Proof. W. l. o. g. let ϕ = 1 in a neighborhood of p. Using Prop. 2.5 we may
choose a χ ∈ C∞ (M)
 which is constant 1 in a neighborhood of p and such that
supp χ ⊂ q ∈ M ϕ(q) = 1 . Then χ · ϕ = χ and hence


Xp (χ) = Xp (χ · ϕ) = ϕ(p) · Xp (χ) + χ(p) · Xp (ϕ) = Xp (χ) + Xp (ϕ),

thus Xp ϕ = 0. 
3.2.2. Tp M ∩ Tq M = {0} if p 6= q. Thus, if X ∈ Tp M ∩ Tq M then X = 0
or p = q. In other words each nonzero tangent vector X 6= 0 determines its
basepoint uniquely.
 3. THE TANGENT SPACE 15

Proof. Let X ∈ Tp M ∩ Tq M and p 6= q. Let f ∈ C∞ (M) be given. Then choose

ϕ ∈ C∞ (M) such that ϕ ≡ 1 in a neighborhood of p and ϕ ≡ 0 in a neighborhood
of q. Then by 3.2.1 we have Xϕ = Xq ϕ = 0. Furthermore, f(1 − ϕ) ≡ 0 in a
neighborhood of p and hence by 3.2.1 we have Xp (f(1 − ϕ)) = 0. Thus we infer
X(f) = Xp (f) = Xp (fϕ) = Xq (fϕ) = f(q)Xq ϕ + ϕ(q)Xq f = 0. 
3.2.3. Although a priori a derivation X ∈ Tp M is defined only on C∞ (M) it
can be defined on C∞ (U) for any open neighborhood U of p as follows: given
f ∈ C∞ (U) choose fe ∈ C∞ (M) with f ≡ fe in a neighborhood of p. Then put
e Using the previous observations it is clear that Xf is well-defined and
Xf := Xf.
that the so defined X satisfies Leibniz’ rule on C∞ (U) as well.
3.2.4. Let (U, ϕ) be a chart with coordinate functions x1 , . . . , xn . Then
∂  ∂ 
f ◦ ϕ−1 (r) = D(f ◦ ϕ−1 )(ϕ(p))[ei ].


 f :=
∂xi p ∂ri ϕ(p)


Here, ei denotes the i-th canonical base vector in Rn .

3.3. Dimension.
Lemma 3.2. For p ∈ M there exists a chart (U, ϕ) centered2 at p with the following
property: For each f ∈ C∞ (U) there exist functions f1 , . . . , fm ∈ C∞ (U) such that
X
m
f = f(p) + fj · xj .
j=1

Here, x1 , . . . , xm are the coordinate functions of the chart, m is the dimension of the
chart.
Proof. Let first (U, ϕ) be a chart centered at p with range (−ε, ε)m . Then in
terms of the coordinates we have
X
m
f(x) = f(p) + f(x1 , . . . , xj , 0, . . . , 0) − f(x1 , . . . , xj−1 , 0, . . . , 0)
j=1
m Z1
X
= f(p) + (∂j f)(x1 , . . . , xj−1 , txj , 0, . . . , 0)dt · xj ,
j=1 0

R1
so fj (x) := 0 (∂j f)(x1 , . . . , xj−1 , txj , 0, . . . , 0)dt does the job.
If (U, ϕ) is a general chart centered at p then there exists an ε > 0 and an
open subset U ⊃ V 3 p with V ⊂ U and ϕ(V) = (−ε, ε)m . Hence by the first part
of this proof we have
 Xm
fV = f(p) + fej · xj ,
j=1

with fej ∈ C∞ (V). Now choose an open neighborhood W of p with W ⊂ V. By

∞

Proposition 2.5 there exists χ ∈ C (M) with χ W = 1 and χM\V = 0. Then fej χ


2
“centered at p” means ϕ(p) = 0.
16 1. DIFFERENTIABLE MANIFOLDS

extends naturally by 0 to a smooth function on M and with these functions we

have
f = fχ + f(1 − χ)
Xm 
f(1 − χ)xj 
= f(p) + fej χ + Pm 2 · xj
j=1 j=1 xj

f(1−χ)xj
Note that since 1 − χ vanishes in a neighborhood of p the function Pm 2 is
j=1 xj
smooth in a neighborhood of p. 
Proposition 3.3. Let Mm be a C∞ –manifold and (U, ϕ) an m–dimensional chart cen-
tered at p. Then dim Tp M = m. Moreover,
∂  ∂ 
 ,...,
∂x1 p ∂xm p


is a basis of Tp M.
 APPENDIX A

1. Structure theorems for differentiable maps

Lecture 01,
To understand manifold theory the following structure theorems for differ- 12.10.2022,
entiable maps from Analysis II will be crucial and therefore they should be Lennart
Ronge
recalled.
1.1. Implicit Function Theorem. Let U ⊂ Rpx , V ⊂ Rqy be open subsets and
let F : U × V −→ Rqy be a Ck –map, k ≥ 1. Let a fixed solution (a, b) ∈ U × V of
the equation F(a, b) = 0 be given such that the matrix
 ∂F 
i
D2 F(a, b) := (a, b)
∂yj 1≤i,j≤q

is invertible.
Then there exist open neighborhoods a ∈ U1 ⊂ U, b ∈ V1 ⊂ V and a Ck –map
ϕ : U1 −→ V1 , such that
   
(x, y) ∈ U1 × V1  F(x, y) = 0 = (x, y) ∈ U1 × V1  y = ϕ(x) ,
i. e. in U1 × V1 the solutions of the equation F(x, y) = 0 are given as the graph of
the smooth map ϕ. Furthermore, the derivative of ϕ can be expressed in terms
of the derivatives of F as follows:

−1  ∂F 
i
Dϕ(x) = − (D2 F)(x, ϕ(x) (D1 F)(x, ϕ(x)), D1 F(a, b) := (a, b) .
∂xj 1≤i,j≤p

1.2. Inverse Function Theorem. Let U ⊂ Rp be an open subset and f : U −→

Rp a Ck –map, k ≥ 1. For a fixed a ∈ U assume that the derivative Df(a) is
invertible.
 Then there exist open neighborhoods a ∈ U0 ⊂ U, f(a) ∈ V, such that
f U :−→ V is a Ck –diffeomorphism.

0

1.3. Rank Theorem. Let U ⊂ Rpx be an open subset and f : U −→ Rq a

Ck –map, k ≥ 1. Consider a fixed a ∈ U, b := f(a). Then we have:
1. If rank Df(a) = r then there exist local diffeomorphisms ψ : Uψ ⊂ U −→
Vψ ⊂ Rp with ψ(a) = 0, ϕ : Uϕ ⊂ Rq −→ Vϕ ⊂ Rq mit ϕ(b) = 0, such that
ϕ ◦ f ◦ ψ−1 (x = (x1 , . . . , xp )) = (x1 , . . . , xr , f(x)),
e

with a Ck –map f.
e
2. If rank Df(x) = r is constant in a neighborhood of a, then one can find ϕ
and ψ in such a way that fe = 0.

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 Bibliography

[Trè06] F. Trèves, Topological vector spaces, distributions and kernels, Dover Publications Inc., Mine-
ola, NY, 2006, Unabridged republication of the 1967 original. MR 2296978 (2007k:46002)

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