The level set of a~smooth mapping in a~neighborhood of a~singular point, and zeros of a~quadratic mapping
Sbornik. Mathematics, Tome 73 (1992) no. 2, pp. 455-466

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The level set $M$ of a smooth mapping $F$ in a neighborhood of an anormal point is investigated. Concepts of 2-regularity are introduced for it. It is proved that if the mapping is 2-regular at the point under consideration, then in a neighborhood of it the set $M$ is locally diffeomorphic to the set of zeros of the second differential of $F$.
@article{SM_1992_73_2_a8,
     author = {E. R. Avakov and A. A. Agrachev and A. V. Arutyunov},
     title = {The level set of a~smooth mapping in a~neighborhood of a~singular point, and zeros of a~quadratic mapping},
     journal = {Sbornik. Mathematics},
     pages = {455--466},
     publisher = {mathdoc},
     volume = {73},
     number = {2},
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     url = {http://geodesic.mathdoc.fr/item/SM_1992_73_2_a8/}
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E. R. Avakov; A. A. Agrachev; A. V. Arutyunov. The level set of a~smooth mapping in a~neighborhood of a~singular point, and zeros of a~quadratic mapping. Sbornik. Mathematics, Tome 73 (1992) no. 2, pp. 455-466. http://geodesic.mathdoc.fr/item/SM_1992_73_2_a8/