Constrained open mapping theorem with applications

We prove a generalization of Gravesʼ Open Mapping Theorem for a class of mappings which can be approximated at a reference point by a set-valued one having particular properties. The nonlinear mapping is restricted to a closed convex subset of a Banach space. We apply the results to derive necessary and sufficient conditions ensuring the existence of a differentiable selection for the inverse mapping. A slight generalization of a sufficient condition by J. Klamka on so-called constrained exact local controllability of nonlinear and semi-linear dynamic systems is also proved.