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# Copolarity of isometric actions

## 1 Introduction

An isometric action of a compact Lie group $`G`$ on a complete Riemannian manifold $`M`$ is called *polar* if there exists a connected, complete submanifold $`\mathrm{\Sigma }`$ of $`M`$ which intersects all $`G`$-orbits and such that $`\mathrm{\Sigma }`$ is orthogonal to every $`G`$-orbit it meets. Such a submanifold is called a *section*. It is easy to see that a section is automatically totally geodesic. If the section is also flat in the induced metric, then the action is called *hyperpolar*. In the case of Euclidean spaces, there is clearly no difference between polar and hyperpolar representations since totally geodesic submanifolds of an Euclidean space are affine subspaces. Polar representations were classified by Dadok  and it follows from his work that a polar representation of a compact Lie group is orbit equivalent to (i. e. has the same orbits as) the isotropy representation of a symmetric space.

In this paper we introduce a new invariant for isometric actions of compact Lie groups, the *copolarity*. Roughly speaking, it measures how far from being polar the action is. This is based on the idea of a $`k`$-*section*, which is a generalization of the concept of section. The *minimal $`k`$-section* passing through a regular point of the action is the smallest connected, complete, totally geodesic submanifold of the ambient space passing through that point which intersects all the orbits and such that, at any intersection point with a principal orbit, its tangent space contains the normal space of that orbit with codimension $`k`$. It is easy to see that this is a good definition and uniquely specifies an integer $`k`$ which we call the *copolarity* of the isometric action (see Section 2). It is also obvious that the $`k=0`$ case precisely corresponds to the polar actions.

It is apparent that for most isometric actions the minimal $`k`$-section coincides with the ambient space. Note that in this case $`k`$ equals the dimension of a principal orbit. We say that such isometric actions have *trivial copolarity*. The obvious questions that emerge are:

> What are the isometric actions with nontrivial copolarity? What is the meaning of the integer $`k`$?

In this paper we examine this problem in the case of orthogonal representations. Examples of representations of nontrivial copolarity and minimal $`k`$-sections appear naturally in the framework of the reduction principle in compact transformation groups (see  for that principle). In fact, in  the reduction principle was used to describe the geometry of the irreducible representations in the table of Theorem 1.1 below, which have copolarity $`1`$. In that paper one was motivated by the fact that the orbits of those representations are tautly embedded in Euclidean space; we call representations with this property *taut*. This work is mainly motivated by the desire to better understand and generalize that description.

We give a complete answer to the above questions for the extremal values of the invariant $`k`$. Namely, let $`(G,V)`$ be an irreducible representation of a compact connected Lie group. Let $`n`$ be the dimension of a principal orbit. We prove the following two theorems.

###### Theorem 1.1

If $`k=1<n`$, then $`(G,V)`$ is one of the following orthogonal representations ($`m2`$):

$$\begin{array}{cc}& \\ \mathrm{𝐒𝐎}(2)\times \mathrm{𝐒𝐩𝐢𝐧}(9)& \text{(standard)}_𝐑\text{(spin)}\\ 𝐔(2)\times \mathrm{𝐒𝐩}(m)& \text{(standard)}_𝐂\text{(standard)}\\ \mathrm{𝐒𝐔}(2)\times \mathrm{𝐒𝐩}(m)& \text{(standard)}^3_𝐇\text{(standard)}\end{array}$$

###### Theorem 1.2

If $`k=n1`$ or $`k=n2`$, then $`k=0`$.

Theorems 1.1 and 1.2 will be proved as corollaries of some other, stronger results, see Corollaries 5.3 and 4.21 respectively. A couple of remarks are in order. Theorem 1.2 says that in the nonpolar case a nontrivial minimal $`k`$-section must have codimension at least $`3`$. Also, the three representations listed in the table of Theorem 1.1 are precisely the irreducible representations of cohomogeneity $`3`$ that are not polar (see ). In fact, according to the main result of  (see also ), these three representations together with the polar ones precisely comprise all the taut irreducible representations. Hence, we have the following beautiful characterization of taut irreducible representations.

###### Theorem 1.3

An irreducible representation of a compact Lie group is taut if and only if $`k=0`$ or $`k=1`$.

Regarding Theorem 1.3, it is worth pointing out that the case $`k=1=n`$ is impossible, for such a representation would be orbit equivalent to a linear circle action and hence, by irreducibility, that would have to be the standard action of $`\mathrm{𝐒𝐎}(2)`$ on $`𝐑^2`$, which has $`k=0`$. Notice that Theorems 1.1 and 1.3 cease to hold if the representation is not irreducible as can be seen by taking the $`7`$-dimensional representation of $`𝐔(2)`$ given by the direct sum of the vector representation on $`𝐂^2`$ and the adjoint representation on $`𝔰𝔲(2)`$ (It is interesting to remark that this representation still has cohomogeneity $`3`$.)

Another result we would like to explain here is the following. Let $`(G,V)`$ be an orthogonal representation of nontrivial copolarity. It is easy to see that the $`G`$-translates of a nontrivial minimal $`k`$-section naturally determine a group invariant foliation $``$ on the $`G`$-regular set of $`V`$ (in fact, here the $`k`$-section need not be minimal, but we do not go into details in this introduction). We prove the following theorem (see Theorem 4.22).

###### Theorem 1.4

If the distribution orthogonal to $``$ is integrable, then $`(G,V)`$ is orbit equivalent to a direct product representation $`(G_1\times G_2,V_1V_2)`$, where $`G_1`$, $`G_2`$ are subgroups of $`G`$, $`(G_1,V_1)`$ is a polar representation and $`(G_2,V_2)`$ is any representation; here the leaves of the distribution orthogonal to $``$ correspond to the $`G_1`$-orbits. In particular, if $`(G,V)`$ is nonpolar then it cannot be irreducible.

In this paper we also relate the copolarity of an isometric action to the concept of variationally complete actions which was introduced by Bott in  (see also ). Roughly speaking, an isometric action of a compact Lie group on a complete Riemannian manifold is *variationally complete* if it produces enough Jacobi fields along geodesics to determine the multiplicities of focal points to the orbits (see Section 6 for the precise definition). Conlon proved in  that a hyperpolar action of a compact Lie group on a complete Riemannian manifold is variationally complete. On the other hand, it is known that a variationally complete representation is polar , and that a variationally complete action on a compact symmetric space is hyperpolar . This implies that the converse to Conlon’s theorem is true for actions on Euclidean spaces or compact symmetric spaces. In this paper we introduce the notion of variational co-completeness of an isometric action and prove that it does not exceed $`k`$ for an action that admits a flat $`k`$-section (Theorem 6.1). This reduces to Conlon’s theorem for $`k=0`$. We also prove a weak converse of this result in the case of representations (Theorem 6.8).

The paper is organized as follows. We first define $`k`$-sections and the copolarity of an isometric action (Section 2) and present some examples (Section 3). Then we go on to develop some of the structural theory of copolarity $`k`$ representations. In particular, we show that the copolarity of an orthogonal representation behaves well with respect to taking slice representations (Theorem 4.6) and forming direct sums (Theorem 4.13), and we obtain a reduction principle in terms of $`k`$-sections (Theorem 4.9). We also show that the codimension of a nontrivial minimal $`k`$-section of an irreducible representation is at least $`3`$ (Corollary 4.21), and characterize the orthogonal representations admitting a minimal $`k`$-section whose orthogonal distribution is integrable (Theorem 4.22). We describe the geometry of a principal orbit of a representation of copolarity one (Theorem 5.2) and classify the irreducible representations of copolarity one (Corollary 5.3). We finally prove the extension of Conlon’s theorem for copolarity $`k`$ actions (Theorem 6.1) and its weak converse in the case of representations (Theorem 6.8). As a corollary, we generalize a result about polar representations (Corollary 6.10).

As a final note, we recall that the principal orbits of polar representations can be characterized as being the only compact homogeneous isoparametric submanifolds of Euclidean space . An open problem in the area is to similarly characterize the principal orbits of more general orthogonal representations in terms of their submanifold geometry and topology. We believe that orthogonal representations of low copolarity may serve as testing cases for this problem.

The first author wishes to thank Prof. Gudlaugur Thorbergsson for very useful conversations. Part of this work was completed while the third author was visiting University of São Paulo (USP), for which he wishes to thank Prof. Antônio Carlos Asperti and the other colleagues from USP for their hospitality, and FAPESP for financial support.

## 2 Actions admitting $`k`$-sections

Let $`(G,M)`$ be an isometric action of the compact Lie group $`G`$ on the complete Riemannian manifold $`M`$. A $`k`$-*section* for $`(G,M)`$, where $`k`$ is a nonnegative integer, is a connected, complete submanifold $`\mathrm{\Sigma }`$ of $`M`$ such that the following hold:

1. $`\mathrm{\Sigma }`$ is totally geodesic in $`M`$;
2. $`\mathrm{\Sigma }`$ intersects all $`G`$-orbits;
3. for every $`G`$-regular point $`p\mathrm{\Sigma }`$ we have that $`T_p\mathrm{\Sigma }`$ contains the normal space $`\nu _p(Gp)`$ as a subspace of codimension $`k`$;
4. for every $`G`$-regular point $`p\mathrm{\Sigma }`$ we have that if $`gp\mathrm{\Sigma }`$ for some $`gG`$, then $`g\mathrm{\Sigma }=\mathrm{\Sigma }`$.

If $`\mathrm{\Sigma }`$ is a $`k`$-section through $`p`$, then $`g\mathrm{\Sigma }`$ is a $`k`$-section through $`gp`$ for any $`gG`$. We also remark that: since a $`k`$-section $`\mathrm{\Sigma }`$ is connected, complete and totally geodesic, for every $`p\mathrm{\Sigma }`$ we have that $`\mathrm{\Sigma }=\mathrm{exp}_pT_p\mathrm{\Sigma }`$; and, since the $`G`$-orbits are compact, for every $`pM`$ we have that the set $`\mathrm{exp}_p\nu (Gp)`$ intersects all $`G`$-orbits. Using these remarks, it is easy to see that, given a $`G`$-regular $`pM`$, the connected component containing $`p`$ of the intersection of a $`k_1`$-section and a $`k_2`$-section passing through $`p`$ is a smooth submanifold and it is a $`k`$-section passing through $`p`$ with $`k\mathrm{min}\{k_1,k_2\}`$. It is also clear that the ambient $`M`$ is a trivial $`k`$-section for $`k`$ equal to the dimension of a principal orbit. It follows that the set of $`k`$-sections, $`k=0,1,2,\mathrm{}`$, passing through a fixed regular point admits a unique minimal element. We say that the *copolarity* of $`(G,M)`$ is $`k_0`$, and we write $`\text{copol}(G,M)=k_0`$, if that minimal element is a $`k_0`$-section. In this way, the copolarity is well defined for any isometric action $`(G,M)`$ as being an integer $`k_0`$ between zero and the dimension of a principal orbit, and then a $`k_0`$-section is uniquely determined through any given regular point. We say that $`(G,M)`$ has *nontrivial copolarity* if $`k_0`$ is strictly less than the dimension of a principal orbit (or, equivalently, if a $`k_0`$-section is properly contained in $`M`$). Since a $`0`$-section is simply a section, we have that $`\text{copol}(G,M)=0`$ if and only if $`(G,M)`$ is polar. Note that the set of connected, complete submanifolds of $`M`$ passing through a fixed $`G`$-regular point and satisfying only conditions (C1), (C2) and (C3) is also closed under connected intersection, and that a minimal element in this set automatically satisfies condition (C4), so that it represents the same minimal $`k_0`$-section. *It follows from this observation that, in order to show that an isometric action has copolarity at most $`k`$, it is enough to construct a connected, complete submanifold of codimension $`k`$ satisfying conditions (C1), (C2) and (C3).* On the other hand, note that many of our applications will not depend on the fact that a $`k`$-section is minimal, but rather will depend on the fact that it satisfies condition (C4).

Next we discuss the conditions in the definition of a $`k`$-section. Note that if $`k=0`$ condition (C4) is unnecessary and also (C1) follows rather easily from (C2) and (C3), but in general we cannot dispense with them. A standard argument also shows that in the general case condition (C2) follows from (C3), if the latter is not empty, namely if we assume that $`\mathrm{\Sigma }`$ contains a regular point. Condition (C4) (combined with (C2)) is equivalent to the fact that the $`G`$-translates of $`\mathrm{\Sigma }`$ define a foliation in the regular set of $`M`$. Even more interesting is the following rephrasing of condition (C4). (Note that condition (C3) implies that the intersection of a $`k`$-section with a principal orbit is a smooth manifold.)

###### Proposition 2.1

Let $`(G,M)`$ be an isometric action of the compact Lie group $`G`$ on the complete Riemannian manifold $`M`$. Suppose $`\mathrm{\Sigma }`$ be a connected, complete submanifold of $`M`$ satisfying conditions (C1), (C2) and (C3). For every regular $`p\mathrm{\Sigma }`$ define a $`k`$-dimensional subspace $`𝒟_p`$ of $`T_p(Gp)`$ by $`𝒟_p=T_p\mathrm{\Sigma }T_p(Gp)`$. Then condition (C4) is equivalent to any one of the following assertions:

1. the subspaces $`\{𝒟_p\}`$ extend to a $`k`$-dimensional, $`G`$-invariant distribution $`𝒟`$ on the regular set of $`M`$;
2. for every $`G`$-regular point $`p\mathrm{\Sigma }`$ we have that if $`gp\mathrm{\Sigma }`$ for some $`gG`$, then $`g_{}𝒟_p=𝒟_{gp}`$;
3. there exists a principal orbit $`\xi `$ such that if $`p`$, $`gp\mathrm{\Sigma }\xi `$ for some $`gG`$, then $`g_{}𝒟_p=𝒟_{gp}`$.

Moreover, any one of the above conditions implies that the stabilizer $`G_\mathrm{\Sigma }`$ of $`\mathrm{\Sigma }`$ acts transitively on the intersection of $`\mathrm{\Sigma }`$ with any principal orbit.

Proof. Since $`\mathrm{\Sigma }`$ is connected, complete and totally geodesic in $`M`$, for any $`G`$-regular point $`p\mathrm{\Sigma }`$ we have that $`\mathrm{\Sigma }=\mathrm{exp}_pT_p\mathrm{\Sigma }`$, where $`T_p\mathrm{\Sigma }=𝒟_p\nu _p(Gp)`$. We now show that (c) implies (C4). Assume that (c) holds with respect to the principal orbit $`\xi `$. Let $`q\mathrm{\Sigma }`$ be a $`G`$-regular point. There exists a minimal geodesic from $`q`$ to $`\xi `$. Therefore we can write $`p=\mathrm{exp}_qv`$ for some $`p\xi `$ and $`v\nu _q(Gq)`$. Conditions (C3) and (C1) imply that $`p\mathrm{\Sigma }`$. Now if $`gq\mathrm{\Sigma }`$ for some $`gG`$, then $`gp=\mathrm{exp}_{gq}g_{}v\mathrm{exp}_{gq}(\nu _{gq}(Gq))\mathrm{exp}_{gq}(T_{gq}\mathrm{\Sigma })=\mathrm{\Sigma }`$. Since $`p`$, $`gp\mathrm{\Sigma }\xi `$, by (c) we deduce that $`g_{}𝒟_p=𝒟_{gp}`$. It follows that $`g\mathrm{\Sigma }=g\mathrm{exp}_p(𝒟_p\nu _p(Gp))=\mathrm{exp}_{gp}(g_{}𝒟_pg_{}\nu _p(Gp))=\mathrm{exp}_{gp}(𝒟_{gp}\nu _{gp}(Gp))=\mathrm{\Sigma }`$, and this gives (C4).

Notice that (a) is just a reformulation of (b), and the fact that $`G_\mathrm{\Sigma }`$ is transitive on the intersection of $`\mathrm{\Sigma }`$ with any principal orbit follows immediately from (C4). Also, the equivalence between (C4) and (b) follows from $`\mathrm{\Sigma }=\mathrm{exp}_p(𝒟_p\nu _p(Gp))`$. Since (b) trivially implies (c), this completes the proof of the proposition. $`\mathrm{}`$

Let $`\mathrm{\Sigma }`$ be a $`k`$-section of $`(G,M)`$ and consider the distribution $`𝒟`$ as in Proposition 2.1. Define $``$ to be the distribution on the regular set of $`M`$ such that $`_p`$ is the orthogonal complement of $`𝒟_p`$ in $`T_p(Gp)`$. If $`p`$ is $`G`$-regular, then it follows from the fact that $`\mathrm{\Sigma }`$ is totally geodesic in $`M`$ that the distribution $`𝒟|_{Gp}`$ is autoparallel in $`Gp`$ and invariant under the second fundamental form $`\alpha `$ of $`Gp`$, in the sense that $`\alpha (𝒟,)=0`$ on $`Gp`$.

The following proposition will be used later to show that some orthogonal representations admit $`k`$-sections.

###### Proposition 2.2

Let $`(G,V)`$ be an orthogonal representation of a compact Lie group on a Euclidean space $`V`$. Let $`Gp`$ be a principal orbit. Suppose there is a $`G`$-invariant, autoparallel, $`k`$-dimensional distribution $`𝒟`$ on $`Gp`$ such that $`\alpha (𝒟,)=0`$, where $`\alpha `$ is the second fundamental form of $`Gp`$ and $``$ is the distribution on $`Gp`$ orthogonal to $`𝒟`$. Define $`\mathrm{\Sigma }=𝒟_p\nu _p(Gp)`$.

1. Suppose that for every $`v\nu _p(Gp)`$ with $`q=p+v`$ a $`G`$-regular point we have that $`_pT_q(Gq)`$. Then $`\mathrm{\Sigma }`$ satisfies conditions (C1), (C2) and (C3) in the definition of a $`k`$-section.
2. Suppose that, in addition to the hypothesis in (a), for every $`v\nu _p(Gp)`$ with $`q=p+vGp`$ we have that $`_p=_q`$. Then $`\mathrm{\Sigma }`$ is a $`k`$-section for $`(G,V)`$.

Proof. Let $`\beta `$ be a the maximal integral submanifold of $`𝒟`$ through $`p`$. Since $`\beta `$ is totally geodesic in $`Gp`$ and $`\alpha (𝒟,)=0`$, we have that the covariant derivative in $`V`$ of a $``$-section along $`\beta `$ is in $``$, which implies that $``$ is constant in $`V`$ along $`\beta `$. Therefore $`\beta `$ is contained in the affine subspace of $`V`$ orthogonal to $`_p`$ which is $`\mathrm{\Sigma }`$ and, in fact, $`\beta `$ is the connected component of $`\mathrm{\Sigma }Gp`$ containing $`p`$.

Now if $`gp\beta `$ then $`_p=_{gp}`$. Taking orthogonal complements in $`V`$, we get that $`\mathrm{\Sigma }=𝒟_{gp}\nu _{gp}(Gp)`$; but the right hand side in turn equals $`g\mathrm{\Sigma }`$, as $`𝒟`$ is $`G`$-invariant. This shows that conditions (C3) and (C4) are already verified for points in $`\beta `$.

Next let $`\gamma \beta `$ be a connected component of the intersection of $`\mathrm{\Sigma }`$ with a principal orbit (which possibly could be $`Gp`$). Let $`q\gamma `$ and consider the minimal geodesic in $`V`$ from $`q`$ to $`\beta `$. Then we can write $`q=gp+v`$, where $`gp\beta `$ for some $`gG`$ and $`v\nu _{gp}(Gp)`$. Since $`g^1q=p+g^1v`$, we have $`T_q(Gq)=gT_{g^1q}(Gq)g_p=_{gp}=_p`$ (where the inclusion follows from the hypothesis in (a)). Taking orthogonal complements in $`V`$, we get that $`\nu _q(Gq)\mathrm{\Sigma }`$. This shows that condition (C3) is fully verified. If, in addition, $`\gamma `$ is a connected component of $`\mathrm{\Sigma }Gp`$ and $`q=hp`$ for some $`hG`$, then we can write $`h_p=_q=g_{g^1q}=g_p=_{gp}=_p`$ (where the equality $`_{g^1q}=_p`$ follows from the hypothesis in (b)). Taking orthogonal complements we get $`h\mathrm{\Sigma }=\mathrm{\Sigma }`$ which, by Proposition 2.1(c), finally implies condition (C4). $`\mathrm{}`$

## 3 Examples

In this section we exhibit some examples of actions admitting $`k`$-sections.

### 3.1 Product actions

Let $`(G_1,M_1)`$ be a polar action with a section $`\mathrm{\Sigma }_1`$, and let $`(G_2,M_2)`$ be any isometric action. Let $`G=G_1\times G_2`$, $`M=M_1\times M_2`$ and consider the product action $`(G,M)`$. Then it is immediate to see that $`\mathrm{\Sigma }=\mathrm{\Sigma }_1\times M_2`$ is a $`k`$-section of $`(G,M)`$, where $`k`$ is the dimension of a principal orbit of $`(G_2,M_2)`$. Note that in this example the distribution $``$ is integrable and its leaves are the $`G_2`$-orbits in $`M_2`$. We will show later that, in the case of orthogonal representations, this example is essentially the only one whose distribution $``$ is integrable.

### 3.2 The reduction principle in compact transformation groups

Let $`(G,M)`$ be an isometric action and fix a principal isotropy subgroup $`H`$. Then the $`H`$-fixed point set $`\mathrm{\Sigma }=M^H`$ is a $`k`$-section for $`(G,M)`$, where $`k`$ is the difference between the dimension of $`\mathrm{\Sigma }`$ and the cohomogeneity of $`(G,M)`$. In fact, $`\mathrm{\Sigma }`$ is a totally geodesic submanifold of $`M`$, being the common fixed point set of a set of isometries of $`M`$. This is condition (C1) in the definition of a $`k`$-section. Condition (C3) follows from the fact that the slice representation at a regular point is trivial. Moreover, if $`p`$, $`gp\mathrm{\Sigma }`$ are regular points for some $`gG`$, then both the isotropy subgroups at $`p`$ and $`gp`$ are $`H`$, so $`g`$ normalizes $`H`$ and therefore fixes $`\mathrm{\Sigma }`$. This is condition (C4). The rest follows.

It is interesting to notice that sometimes the group $`G`$ can be enlarged to another group $`\widehat{G}`$ that has the same orbits as $`G`$ on $`M`$ but has a larger principal isotropy subgroup $`\widehat{H}`$, and then the $`\widehat{H}`$-fixed point set is smaller that the $`H`$-fixed point set (see ).

This example is very important in the sense it shows that if $`(G,M)`$ is an arbitrary isometric action, and $`\mathrm{\Sigma }`$ is $`k`$-section which is *minimal* (so that $`\text{copol}(G,M)=k`$), then we always have that $`\mathrm{\Sigma }M^{G_p}`$, for any $`G`$-regular point $`p\mathrm{\Sigma }`$. Therefore $`G_p`$ acts trivially on $`𝒟_p=T_p\mathrm{\Sigma }T_p(Gp)`$. We do not know of any example of an isometric action such that the minimal $`k`$-section is *strictly* contained in the fixed point set of a principal isotropy subgroup.

In any case, $`G_pG_\mathrm{\Sigma }`$ for a minimal $`k`$-section $`\mathrm{\Sigma }`$ and a $`G`$-regular point $`p\mathrm{\Sigma }`$. This implies that the isotropy subgroup of $`G_\mathrm{\Sigma }`$ at $`p`$ is $`G_p`$. Since $`G_p`$ acts trivially on $`\mathrm{\Sigma }`$, using Lemma 4.8 below, we get that $`Gp\mathrm{\Sigma }=G_\mathrm{\Sigma }p=G_\mathrm{\Sigma }/G_p`$ is a group manifold.

### 3.3 Some orthogonal representations of low copolarity

Some calculations in  involving the reduction principle in transformation groups produced some examples of irreducible orthogonal representations of low copolarity.

1. The three irreducible representations of cohomogeneity $`3`$ have copolarity $`1`$. These are listed in the table of Theorem 1.1.
2. The tensor product of the vector representation of $`\mathrm{𝐒𝐎}(3)`$ and the $`7`$-dimensional representation of $`𝐆_2`$ is an irreducible representation of copolarity $`2`$.
3. Let $`(S^1\times H,V)`$ be a polar irreducible representation which is *Hermitian*, namely leaves a complex structure on $`V`$ invariant. Assume that the restricted representation $`(H,V)`$ is not orbit equivalent to $`(S^1\times H,V)`$. Then $`(H,V)`$ has nontrivial copolarity $`k>0`$. (There are four families of such Hermitian polar irreducible representations, and the simplest example is maybe the action of the unitary group $`𝐔(3)`$ on the space of complex symmetric bilinear forms in three variables. The induced representation of $`\mathrm{𝐒𝐔}(3)`$ has real dimension $`12`$, cohomogeneity $`4`$ and copolarity $`2`$.)

### 3.4 Examples derived from polar actions

Let $`(G,V)`$ be a polar representation of a compact Lie group $`G`$ on a Euclidean space. Then, of course, $`\text{copol}(G,M)=0`$. Nevertheless, in general there are interesting examples of $`k`$-sections for $`(G,V)`$ with $`k>0`$.

In fact, let $`Gp`$ be a principal orbit. It is known that equivariant normal vector fields along $`Gp`$ are parallel in the normal connection and therefore $`Gp`$ is an *isoparametric submanifold* of $`V`$, namely the principal curvatures of $`Gp`$ along a parallel normal vector field are constant and the normal bundle of $`Gp`$ in $`V`$ is globally flat. Let $`v\nu _p(Gp)`$, $`A_v`$ the Weingarten operator in the direction of $`v`$ and $`\lambda `$ a nonzero principal curvature in the direction of $`v`$ with multiplicity $`k`$. Since the subspace $`\mathrm{ker}(A_v\lambda \text{id}_{T_p(Gp)})`$ of $`T_p(Gp)`$ is $`G_p`$\- and $`A_v`$-invariant, it extends to a $`G`$-invariant distribution $`𝒟`$ on $`Gp`$ which is invariant under the second fundamental form of $`Gp`$, and one can see from the Codazzi equation that $`𝒟`$ is also autoparallel. Moreover, it is very easy to deduce from the theory of isoparametric submanifolds that the conditions on $``$ from Proposition 2.2 are satisfied, so $`\mathrm{\Sigma }=𝒟_p\nu _p(Gp)`$ is a $`k`$-section.

## 4 Structural theory of actions admitting $`k`$-sections

### 4.1 Slice representations

In this section we will prove that the copolarity of a slice representation is not bigger than the copolarity of the original representation (Theorem 4.6). Let $`(G,M)`$ be an isometric action of the compact Lie group $`G`$ on the complete Riemannian manifold $`M`$. Let $`qM`$. Then $`G_q`$ acts on $`T_qM`$ via the differential, and $`T_qM=T_q(Gq)\nu _q(Gq)`$ is an invariant decomposition. The orthogonal representation $`(G_q,\nu _q(Gq))`$ is called the *slice representation at $`q`$*.

###### Lemma 4.1

The following assertions are equivalent:

1. $`v\nu _q(Gq)`$ is $`G_q`$-regular.
2. There exists $`ϵ>0`$ such that $`\mathrm{exp}_q(tv)`$ is $`G`$-regular for $`0<t<ϵ`$.
3. $`\mathrm{exp}_q(t_0v)`$ is $`G`$-regular for some $`t_0>0`$.

Proof. (c) implies (b): Let $`p=\mathrm{exp}_q(t_0v)`$ be $`G`$-regular. Then there exists $`ϵ>0`$ such that

$$G_{\mathrm{exp}_q(tv)}=(G_q)_{tv}=(G_q)_vG_pG_q,$$

for $`0<t<ϵ`$, where the first equality follows from the fact that the exponential map is an equivariant diffeomorphism of a small normal disk of radius $`ϵ`$ onto the image, and the last inclusion follows from the fact that the slice representation at $`p`$ is trivial as $`p`$ is $`G`$-regular. Again by the $`G`$-regularity of $`p`$, we have that $`G_{\mathrm{exp}_q(tv)}=G_p`$ for $`0<t<ϵ`$, and hence $`\mathrm{exp}_q(tv)`$ is $`G`$-regular for $`0<t<ϵ`$.

Clearly (b) implies (c), and the equivalence of (a) with (b) follows from the equality $`G_{\mathrm{exp}_q(tv)}=(G_q)_v`$ for $`0<t<ϵ`$ and the slice theorem. $`\mathrm{}`$

In the following we consider the case of an orthogonal representation $`(G,V)`$. Let $`qV`$, choose a $`k`$-section $`\mathrm{\Sigma }`$ through $`q`$ and consider the slice representation $`(G_q,\nu _q(Gq))`$.

###### Lemma 4.2

There exists $`v\mathrm{\Sigma }\nu _q(Gq)`$ which is a $`G_q`$-regular point.

Proof. Let $`\xi `$ be a principal $`G`$-orbit and choose a connected component $`\beta `$ of $`\mathrm{\Sigma }\xi `$. Let $`c(t)=q+tv`$, $`0tl`$, be a minimal geodesic in $`\mathrm{\Sigma }`$ from $`q`$ to $`\beta `$. Then $`\dot{c}(l)\mathrm{\Sigma }=T_{c(l)}\beta \nu _{c(l)}(Gc(l))`$. But $`\dot{c}(l)`$ must be orthogonal to $`\beta `$, by minimality. Therefore $`\dot{c}(l)\nu _{c(l)}(Gc(l))`$. Since a geodesic orthogonal to an orbit must be orthogonal to every orbit it meets, $`v=\dot{c}(0)\mathrm{\Sigma }\nu _q(Gq)`$. It follows from Lemma 4.1 that $`v`$ is $`G_q`$-regular. $`\mathrm{}`$

For the $`G`$-regular $`p=q+tvV`$, $`0<t<ϵ`$, we then have that $`\mathrm{\Sigma }=\nu _p(Gp)𝒟_p`$, where $`𝒟`$ has rank $`k`$.

###### Lemma 4.3

There is an orthogonal decomposition

$$T_p(G_qp)=T_p(G_qp)𝒟_pT_p(G_qp)_p.$$

Proof. Note that $`T_p(Gp)=𝒟_p_p`$ is an $`A_v`$-invariant decomposition, where $`A_v`$ denotes the Weingarten operator of $`Gp`$ with respect to the, say, unit vector $`v\nu _p(Gp)`$. We first claim that $`T_p(G_qp)`$ is contained in the eigenspace of $`A_v`$ corresponding to the eigenvalue $`1/t`$. In fact, let $`u=\frac{d}{ds}|_{s=0}\phi _s(p)T_p(G_qp)`$ for $`\phi _sG_q`$, $`\phi _0=1`$. Define $`\widehat{v}(s)=\phi _sv`$ normal vector field along $`s\phi _sp`$. Then $`\widehat{v}(s)=\frac{1}{t}(\phi _spq)`$ and

$$A_vu+_u^{}\widehat{v}=\frac{d}{ds}|_{s=0}\widehat{v}(s)=\frac{1}{t}u,$$

so, by taking tangent components, we get that $`A_vu=\frac{1}{t}u`$.

Next write $`u=u^{}+u^{\prime \prime }`$ where $`u^{}𝒟_p`$ and $`u^{\prime \prime }_p`$. Then $`u^{}`$ and $`u^{\prime \prime }`$ are eigenvectors of $`A_v`$ with eigenvalue $`1/t`$. Since $`u^{\prime \prime }_p`$, we have that $`u^{\prime \prime }T_p(G_qp)`$ by Corollary 6.5. Therefore, we also have that $`u^{}T_p(G_qp)`$. $`\mathrm{}`$

Let $`𝒟_{1p}=T_pG_q(p)𝒟_p`$ and $`_{1p}=T_pG_q(p)_p`$. Let $`𝒟_{2p}`$ be the orthogonal complement of $`𝒟_{1p}`$ in $`𝒟_p`$ and let $`_{2p}`$ be the orthogonal complement of $`_{1p}`$ in $`_p`$.

###### Lemma 4.4

We have that $`_{2p}T_q(Gq)`$.

Proof. Let $`u=\frac{d}{ds}|_{s=0}\phi _sp_{2p}`$ with $`\phi _sG`$, $`\phi _0=1`$. Without loss of generality we may assume that $`A_vu=\lambda u`$, and then $`\lambda 1/t`$ because the $`1/t`$ eigenvectors in $`_p`$ belong to $`T_p(G_qp)`$ (Corollary 6.5). Let $`r:GpGq`$ be the canonical equivariant submersion. We compute

$$r_{}(u)=\frac{d}{ds}|_{s=0}\underset{=\phi _sr}{\underset{}{r\phi _s}}(p)=\frac{d}{ds}|_{s=0}\underset{=\phi _s(p)t\phi _s(v)}{\underset{}{\phi _s(q)}}=ut\frac{d}{ds}|_{s=0}\widehat{v}(s),$$

so

$$u=r_{}(u)+t(A_vu+_u^{}\widehat{v}).$$

Now $`_u^{}\widehat{v}=0`$ because $`u_p`$ (Corollary 6.6). Hence $`u=(1+\lambda t)^1r_{}(u)T_q(Gq)`$. $`\mathrm{}`$

Notice that each one of $`𝒟_{1p}`$, $`_{1p}`$, $`\nu _p(Gp)𝒟_{2p}`$ and $`_{2p}`$ is a constant subspace of $`V`$ with respect to $`t(0,ϵ)`$, where $`p=q+tv`$.

###### Lemma 4.5

We have that $`\mathrm{\Sigma }\nu _q(Gq)`$ intersects all $`G_q`$-orbits.

Proof. It follows from Lemma 4.4 that $`\nu _q(Gq)\mathrm{\Sigma }_{1p}`$. Let $`N_v`$ be the normal space to $`T_p(G_qp)`$ in $`\nu _q(Gq)`$. Then $`N_v`$ is orthogonal to $`_{2p}`$ so that

$$\nu _q(Gq)=\underset{=𝒟_{1p}_{1p}}{\underset{}{T_p(G_qp)}}\underset{\nu _p(Gp)𝒟_{2p}}{\underset{}{N_v}}.$$

Hence $`\nu _q(Gq)\mathrm{\Sigma }=N_v𝒟_{1p}`$. Since $`\nu _q(Gq)\mathrm{\Sigma }`$ contains $`N_v`$ and $`v`$ is $`G_q`$-regular, we get that $`\nu _q(Gq)\mathrm{\Sigma }`$ intersects all $`G_q`$-orbits. $`\mathrm{}`$

For a $`G_q`$-regular $`w\nu _q(Gq)\mathrm{\Sigma }`$, we have that $`q+tw`$ is $`G`$-regular for $`t>0`$ small, and thus it makes sense to define $`𝒟_{1w}=𝒟_{q+tw}T_{q+tw}G_q(q+tw)`$. It is clear that $`𝒟_1`$ is a $`G_q`$-invariant distribution on the $`G_q`$-regular set of $`\nu _q(Gq)`$. Moreover, $`\nu _q(Gq)\mathrm{\Sigma }=N_w𝒟_{1w}`$, as above. It follows that $`\nu _q(Gq)\mathrm{\Sigma }`$ is a $`k_1`$-section for $`(G_q,\nu _q(Gq))`$, where $`k_1`$ is the dimension of $`𝒟_1`$. Since the dimension of $`𝒟_1`$ is not bigger than the dimension of $`𝒟`$, we finally conclude:

###### Theorem 4.6

If $`\text{copol}(G,V)k`$, then $`\text{copol}(G_q,\nu _q(Gq))k`$.

### 4.2 The reduction

In this section we establish a reduction principle for orthogonal representations in terms of $`k`$-sections (Theorem 4.9). Let $`(G,V)`$ be an orthogonal representation admitting a $`k`$-section $`\mathrm{\Sigma }`$.

###### Lemma 4.7

Let $`qV`$. Then the isotropy subgroup $`G_q`$ is transitive on the set $``$ of $`k`$-sections through $`q`$ which are $`G`$-translates of $`\mathrm{\Sigma }`$, namely $`=\{g\mathrm{\Sigma }:gG,qg\mathrm{\Sigma }\}`$.

Proof. The result is trivial for a $`G`$-regular point $`q`$, since in this case there is a unique element in $``$ by condition (C4). Assume $`q`$ is not a $`G`$-regular point, and let $`\mathrm{\Sigma }_1`$, $`\mathrm{\Sigma }_2`$. Let $`S`$ be a normal slice at $`q`$ and choose a $`G_q`$-regular $`pS`$. By Lemma 4.5, $`\mathrm{\Sigma }_i\nu _q(Gq)`$ intersects all $`G_q`$-orbits on $`S`$, $`i=1`$, $`2`$. Therefore we can select $`h_iG_q`$ such that $`h_ip\mathrm{\Sigma }_i`$. Now $`ph_1^1\mathrm{\Sigma }_1h_2^1\mathrm{\Sigma }_2`$ where $`p`$ is $`G`$-regular, so $`h_2^1h_1\mathrm{\Sigma }_1=\mathrm{\Sigma }_2`$ where $`h_2^1h_1G_q`$. $`\mathrm{}`$

###### Lemma 4.8

Let $`G_\mathrm{\Sigma }`$ be the stabilizer of $`\mathrm{\Sigma }`$. Then $`G_\mathrm{\Sigma }q=Gq\mathrm{\Sigma }`$, for all $`q\mathrm{\Sigma }`$.

Proof. Let $`p`$, $`q\mathrm{\Sigma }`$ be in the same $`G`$-orbit. We need to show that they are in the same $`G_\mathrm{\Sigma }`$-orbit. If they belong to a principal $`G`$-orbit, then the result follows from Proposition 2.1. Suppose $`p`$ and $`q`$ are not $`G`$-regular points and $`q=gp`$ for some $`gG`$. Then $`q\mathrm{\Sigma }g\mathrm{\Sigma }`$. By Lemma 4.7, there is $`hG_q`$ such that $`h\mathrm{\Sigma }=g\mathrm{\Sigma }`$. Then $`h^1gG_\mathrm{\Sigma }`$ and $`(h^1g)p=q`$. $`\mathrm{}`$

###### Theorem 4.9

The inclusion $`\mathrm{\Sigma }V`$ induces a homeomorphism $`\mathrm{\Sigma }/G_\mathrm{\Sigma }V/G`$.

Proof. The surjectivity is implied by the fact that $`\mathrm{\Sigma }`$ intersects *all* $`G`$-orbits. The injectivity is precisely Lemma 4.8. Since the inclusion $`\mathrm{\Sigma }V`$ is continuous, the induced map $`\mathrm{\Sigma }/G_\mathrm{\Sigma }V/G`$ is continuous. The restriction $`S(\mathrm{\Sigma })/G_\mathrm{\Sigma }S(V)/G`$, where $`S(\mathrm{\Sigma })\mathrm{\Sigma }`$, $`S(V)V`$ are the unit spheres, is also a continuous bijection, and thus a homeomorphism, as $`S(\mathrm{\Sigma })/G_\mathrm{\Sigma }`$ is compact. Since $`\mathrm{\Sigma }/G_\mathrm{\Sigma }V/G`$ is the cone over $`S(\mathrm{\Sigma })/G_\mathrm{\Sigma }S(V)/G`$, it follows that $`\mathrm{\Sigma }/G_\mathrm{\Sigma }V/G`$ is a homeomorphism. $`\mathrm{}`$

In the remaining of this section we study the intersection of the $`k`$-section with a nonprincipal orbit. Let $`q\mathrm{\Sigma }`$ be a singular point.

###### Lemma 4.10

We have an orthogonal decomposition $`\mathrm{\Sigma }=\mathrm{\Sigma }T_q(Gq)\mathrm{\Sigma }\nu _q(Gq)`$.

Proof. Write $`\mathrm{\Sigma }=T_q(G_\mathrm{\Sigma }q)\nu _q^\mathrm{\Sigma }(G_\mathrm{\Sigma }q)`$, where $`\nu _q^\mathrm{\Sigma }(G_\mathrm{\Sigma }q)`$ denotes the normal space to $`G_\mathrm{\Sigma }q`$ at $`q`$ in $`\mathrm{\Sigma }`$. Lemma 4.8 implies that $`T_q(G_\mathrm{\Sigma }q)=\mathrm{\Sigma }T_q(Gq)`$. We still need to show that $`\nu _q^\mathrm{\Sigma }(G_\mathrm{\Sigma }q)=\mathrm{\Sigma }\nu _q(Gq)`$ in order to complete the proof.

Since $`\mathrm{\Sigma }\nu _q(Gq)\nu _q^\mathrm{\Sigma }(G_\mathrm{\Sigma }q)`$ and $`\mathrm{\Sigma }\nu _q(Gq)`$ intersects all $`(G_q,\nu _q(Gq))`$-orbits by Lemma 4.5, we have that there is $`v\nu _q^\mathrm{\Sigma }(G_\mathrm{\Sigma }q)`$ which is $`G_q`$-regular. Now by Lemma 4.1 we know that $`p=q+t_0v`$ is $`G`$-regular for some $`t_0>0`$. We use the remark that a geodesic orthogonal to an orbit is orthogonal to every orbit it meets; we must have $`v\nu _p^\mathrm{\Sigma }(G_\mathrm{\Sigma }p)`$. Since $`p`$ is $`G`$-regular, this implies that $`v\nu _p(Gp)`$. Again, by the same remark, $`v\nu _q(Gq)`$. $`\mathrm{}`$

###### Lemma 4.11

Let $`r:GpGq`$ be the canonical equivariant submersion, where $`p`$ is a $`G`$-regular point in the normal slice at $`q`$. Then $`\mathrm{\Sigma }T_q(Gq)=r_{}𝒟_{2p}`$ and this is the orthogonal complement of $`r_{}_{2p}=_{2p}`$ in $`T_q(Gq)`$.

Proof. Write $`p=q+tv`$ where $`v\nu _q(Gq)`$. Let $`u𝒟_{2p}T_p(Gp)`$. A computation similar to the one done in Lemma 4.4 shows that

$$r_{}(u)=\underset{𝒟_2p}{\underset{}{(\text{id}+tA_v)u}}+\underset{\nu _p(Gp)}{\underset{}{t_u^{}\widehat{v}}}$$

is a vector in $`\mathrm{\Sigma }`$ and therefore orthogonal to $`_{2p}`$. Now

$$T_q(Gq)=r_{}T_p(Gp)=r_{}𝒟_p+r_{}_p=\underset{\mathrm{\Sigma }}{\underset{}{r_{}𝒟_{2p}}}+\underset{=_{2p}}{\underset{}{r_{}_{2p}}}.$$

Since $`\mathrm{\Sigma }`$ is orthogonal to $`_{2p}`$, we conclude that the last sum is an orthogonal direct sum. $`\mathrm{}`$

###### Corollary 4.12

We have that $`r_{}𝒟_{2p}N_v=𝒟_{2p}\nu _p(Gp)`$.

Proof. Consider the orthogonal decomposition $`\mathrm{\Sigma }=\mathrm{\Sigma }T_q(Gq)\mathrm{\Sigma }\nu _q(Gq)`$ from Lemma 4.10. On the one hand, we know that $`\mathrm{\Sigma }=\nu _p(Gp)𝒟_{2p}𝒟_{1p}`$. On the other hand, we have that $`\mathrm{\Sigma }T_q(Gq)=r_{}𝒟_{2p}`$ by Lemma 4.11 and $`\mathrm{\Sigma }\nu _q(Gq)=N_v𝒟_{1p}`$ by the proof of Lemma 4.5. This gives the result. $`\mathrm{}`$

### 4.3 Reducible representations

In this section we prove that the copolarity of a direct sum of representations is not smaller than the copolarity of its summand representations. The result is:

###### Theorem 4.13

Let $`(G,V)`$ be an orthogonal representation and suppose that $`V=V_1V_2`$ is an invariant decomposition. If $`\text{copol}(G,V)k`$, then $`\text{copol}(G,V_i)k`$ for $`i=1`$, $`2`$.

###### Lemma 4.14

Given a $`(G,V_1)`$-regular point $`p_1V_1`$, there is $`p_2V_2`$ such that $`p=(p_1,p_2)`$ is $`(G,V)`$-regular.

Proof. Consider the representation $`(G_{p_1},V_2)`$ and take a $`(G_{p_1},V_2)`$-regular point $`p_2V_2`$. We claim that $`p=(p_1,p_2)`$ is $`(G,V)`$-regular. In fact, let $`q=(q_1,q_2)V_1V_2`$. Since $`p_1`$ is $`(G,V_1)`$-regular, there is $`hG`$ such that $`G_{p_1}hG_{q_1}h^1=G_{hq_1}`$, and therefore $`(G_{p_1})_{hq_2}(G_{hq_1})_{hq_2}=G_{hq}`$. Now $`p_2`$ is $`(G_{p_1},V_2)`$-regular, so there is $`gG`$ such that $`G_p=(G_{p_1})_{p_2}g(G_{p_1})_{hq_2}g^1gG_{hq}g^1=(gh)G_q(gh)^1`$. Hence, the result. $`\mathrm{}`$

###### Lemma 4.15

Let $`\mathrm{\Sigma }`$ be a $`k`$-section of $`(G,V)`$. Given a $`(G,V_1)`$-regular point $`p_1\mathrm{\Sigma }V_1`$, there is $`p_2V_2`$ such that $`p=(p_1,p_2)`$ is $`(G,V)`$-regular and $`p\mathrm{\Sigma }`$.

Proof. We already know from Lemma 4.14 that there is $`p_2^{}V_2`$ such that $`p^{}=(p_1,p_2^{})`$ is $`(G,V)`$-regular. Let $`gG`$ be such that $`gp^{}=(gp_1,gp_2^{})\mathrm{\Sigma }`$. Note that $`gp_1\nu _{gp^{}}(Gp^{})`$. Since $`gp^{}`$ is $`(G,V)`$-regular, $`\nu _{gp^{}}(Gp^{})\mathrm{\Sigma }`$ so that $`gp_1\mathrm{\Sigma }`$. Now $`p_1\mathrm{\Sigma }g^1\mathrm{\Sigma }`$. Therefore, by Lemma 4.7, there is $`kG_{p_1}`$ such that $`kg^1\mathrm{\Sigma }=\mathrm{\Sigma }`$. Hence $`p=kp^{}=(p_1,kp_2^{})\mathrm{\Sigma }`$. $`\mathrm{}`$

###### Lemma 4.16

Let $`\mathrm{\Sigma }`$ be a $`k`$-section of $`(G,V)`$. Given a $`(G,V_1)`$-regular point $`p_1\mathrm{\Sigma }V_1`$, we have that $`\mathrm{\Sigma }V_1`$ contains $`\nu _{p_1}^{V_1}(Gp_1)`$ as a subspace of codimension at most $`k`$, where $`\nu _{p_1}^{V_1}(Gp_1)`$ denotes the normal space to $`Gp_1`$ at $`p_1`$ in $`V_1`$.

Proof. Use Lemma 4.15 to find $`p_2V_2`$ such that $`p=(p_1,p_2)`$ is $`(G,V)`$-regular and $`p\mathrm{\Sigma }`$. Now $`\mathrm{\Sigma }`$ contains $`\nu _p(Gp)`$ with codimension $`k`$ and $`\nu _{p_1}^{V_1}(Gp_1)=\nu _p(Gp)V_1`$. $`\mathrm{}`$

Proof of Theorem 4.13. Fix a $`(G,V_1)`$-regular $`p_1V_1`$ and fix a $`k`$-section $`\mathrm{\Sigma }`$ for $`(G,V)`$ with $`p_1\mathrm{\Sigma }`$. Define $`\mathrm{\Sigma }_1=_{hG_{p_1}}h\mathrm{\Sigma }V_1`$ and let $`q_1\mathrm{\Sigma }_1`$ be $`(G,V_1)`$-regular (for instance, $`q_1`$ could be equal to $`p_1`$). Then, for all $`hG_{p_1}`$, we have $`q_1h\mathrm{\Sigma }V_1`$ and $`h\mathrm{\Sigma }`$ is a $`k`$-section for $`(G,V)`$. It follows by Lemma 4.16 that $`h\mathrm{\Sigma }V_1`$ contains $`\nu _{q_1}^{V_1}(Gq_1)`$ as a subspace of codimension at most $`k`$ for all $`hG_{p_1}`$. Therefore $`\mathrm{\Sigma }_1`$ contains $`\nu _{q_1}^{V_1}(Gq_1)`$ as a subspace of codimension at most $`k`$ and hence $`\mathrm{\Sigma }_1`$ satisfies conditions (C1), (C2) and (C3). This already implies that $`\text{copol}(G,V_1)k`$, but we go on to show that $`\mathrm{\Sigma }_1`$ itself satisfies condition (C4).

Suppose that $`p_1\mathrm{\Sigma }_1g^1\mathrm{\Sigma }_1`$ for some $`gG`$. Then $`p_1h\mathrm{\Sigma }g^1h\mathrm{\Sigma }`$ for all $`hG_{p_1}`$. We use Lemma 4.7 to find $`l=l(h)G_{p_1}`$ such that $`lh\mathrm{\Sigma }=g^1h\mathrm{\Sigma }`$. This gives $`g^1\mathrm{\Sigma }_1=_{hG_{p_1}}lh\mathrm{\Sigma }V_1\mathrm{\Sigma }_1`$. Therefore $`g\mathrm{\Sigma }_1=\mathrm{\Sigma }_1`$. This shows that the distribution $`𝒟_1`$ defined by $`𝒟_{1q_1}=\mathrm{\Sigma }_1T_{q_1}(Gq_1)`$ for $`q_1Gp_1`$ satisfies assertion (c) in Proposition 2.1 with respect to the principal $`(G,V_1)`$-orbit $`Gp_1`$. It follows that $`\mathrm{\Sigma }_1`$ satisfies condition (C4) and hence it is a $`k_1`$-section with $`k_1=dim𝒟_1dim𝒟=k`$. $`\mathrm{}`$

### 4.4 Minimal $`k`$-sections, the osculating spaces of orbits and the integrability of $``$

In this section we study properties of minimal $`k`$-sections of orthogonal representations with nontrivial copolarity (Recall that an isometric action $`(G,M)`$ has nontrivial copolarity if a minimal $`k`$-section is a proper subset of $`M`$.) In particular, we show that in the irreducible case there can be no minimal $`k`$-sections of codimension one or two in the ambient space (Corollary 4.21). We also characterize the case where the distribution $``$ is integrable (Theorem 4.22).

Let $`(G,V)`$ be an orthogonal representation. Define an equivalence relation in the set of $`G`$-regular points by declaring two points to be equivalent if they can be joined by a polygonal path which is (at smooth points) tangent to the distribution of normal spaces of the $`G`$-orbits. It is clear that the group action permutes the equivalence classes. For a $`G`$-regular $`pV`$, denote the equivalence class of $`p`$ by $`𝔖_p`$. Note that $`0𝔖_p`$, as $`p`$ is a vector in the normal space of $`Gp`$ at $`p`$. Therefore the affine hull $`𝒽𝔖_p𝒾`$ is a vector subspace of $`V`$.

Next suppose that $`(G,V)`$ admits a $`k`$-section $`\mathrm{\Sigma }`$. Let $`p\mathrm{\Sigma }`$ be $`G`$-regular. It is clear that $`𝒽𝔖_p𝒾\mathrm{\Sigma }`$. Let $`𝔤`$ be the Lie algebra of $`G`$ and consider its induced action by linear skew-symmetric endomorphisms on $`V`$. For each $`X𝔤`$, let $`f_X:\mathrm{\Sigma }\mathrm{\Sigma }`$ be defined by $`f_X(q)=\mathrm{\Pi }X_q`$, where $`\mathrm{\Pi }:V\mathrm{\Sigma }`$ is orthogonal projection. Then $`f_X`$ is a linear map and $`W_X:=\mathrm{ker}f_X`$ is a subspace of $`\mathrm{\Sigma }`$. Let $`p\mathrm{\Sigma }`$ be $`G`$-regular. Define the following subspace of $`\mathrm{\Sigma }`$:

$$\overline{\mathrm{\Sigma }}_p:=\underset{W_Xp}{}W_X.$$

We have that $`\overline{\mathrm{\Sigma }}_p`$ is the subset of $`\mathrm{\Sigma }`$ comprised of the common zeros of the vector fields that are orthogonal projections onto $`\mathrm{\Sigma }`$ of the $`G`$-Killing fields which are orthogonal to $`\mathrm{\Sigma }`$ at $`p`$. It is clear from this definition that if $`q\overline{\mathrm{\Sigma }}_p`$ is a $`G`$-regular point then $`\overline{\mathrm{\Sigma }}_q\overline{\mathrm{\Sigma }}_p`$.

###### Proposition 4.17

We have that $`𝒽𝔖_p𝒾\overline{\mathrm{\Sigma }}_p\mathrm{\Sigma }`$ and $`\overline{\mathrm{\Sigma }}_p`$ is an $`l`$-section of $`(G,V)`$ with $`lk`$.

Proof. Let $`X𝔤`$ be such that $`pW_X`$. Then $`X_p\mathrm{\Sigma }`$. If $`q𝔖_p`$, then $`q`$ can be joined to $`p`$ by a polygonal path which is normal to the orbits. It follows by an iterated application of Lemmas 6.3 and 6.4 below that $`X_q\mathrm{\Sigma }`$, that is, $`qW_X`$. This shows that $`𝔖_pW_X`$. Therefore $`𝒽𝔖_p𝒾W_X`$. Since $`X`$ can be any element in $`𝔤`$ satisfying $`W_Xp`$, we get that $`𝒽𝔖_p𝒾\overline{\mathrm{\Sigma }}_p`$.

We next prove that $`\overline{\mathrm{\Sigma }}_p`$ is an $`l`$-section. Since $`\overline{\mathrm{\Sigma }}_p\mathrm{\Sigma }`$, it will follow that $`lk`$. In fact, condition (C1) for $`\overline{\mathrm{\Sigma }}_p`$ is obvious and condition (C2) follows from the facts that $`\overline{\mathrm{\Sigma }}_p𝔖_p`$ and $`𝔖_p`$ intersects all orbits. Let us verify condition (C4). Let $`q\overline{\mathrm{\Sigma }}_p`$ be a $`G`$-regular point and $`gG`$ with $`gq\overline{\mathrm{\Sigma }}_p`$. We need to show that $`g\overline{\mathrm{\Sigma }}_p=\overline{\mathrm{\Sigma }}_p`$. First we note that it is clear from the definition of $`\overline{\mathrm{\Sigma }}_p`$ that $`\overline{\mathrm{\Sigma }}_{gq}\overline{\mathrm{\Sigma }}_p`$. Next, since $`𝔖_p`$ intersects all orbits and $`𝔖_p\overline{\mathrm{\Sigma }}_p`$, we may assume that $`q𝔖_p`$, and this implies as above, via Lemmas 6.3 and 6.4, that $`\overline{\mathrm{\Sigma }}_q=\overline{\mathrm{\Sigma }}_p`$. Finally, since $`q`$, $`gq\overline{\mathrm{\Sigma }}_p\mathrm{\Sigma }`$, condition (C4) for $`\mathrm{\Sigma }`$ gives that $`g\mathrm{\Sigma }=\mathrm{\Sigma }`$, and then we have $`gW_X=W_{gXg^1}`$, which shows that $`g\overline{\mathrm{\Sigma }}_q=\overline{\mathrm{\Sigma }}_{gq}`$. Putting all this together we have $`g\overline{\mathrm{\Sigma }}_p=g\overline{\mathrm{\Sigma }}_q=\overline{\mathrm{\Sigma }}_{gq}\overline{\mathrm{\Sigma }}_p`$, and hence $`g\overline{\mathrm{\Sigma }}_p=\overline{\mathrm{\Sigma }}_p`$.

In order to check (C3), let $`q\overline{\mathrm{\Sigma }}_p`$ be a $`G`$-regular point. Since $`𝔖_p`$ intersects all orbits, there is $`gG`$ such that $`gq𝔖_p`$. It is clear that $`\nu _{gq}(Gq)𝒽𝔖_p𝒾\overline{\mathrm{\Sigma }}_p`$. Then $`\nu _q(Gq)=g^1\nu _{gq}(Gq)g^1\overline{\mathrm{\Sigma }}_p=\overline{\mathrm{\Sigma }}_p`$, where the last equality follows from (C4) for $`\overline{\mathrm{\Sigma }}_p`$. $`\mathrm{}`$

###### Corollary 4.18

If $`\mathrm{\Sigma }`$ is a *minimal* $`k`$-section for $`(G,V)`$ and $`p\mathrm{\Sigma }`$ is $`G`$-regular, then for all $`X𝔤`$ we have that: $`X_p\mathrm{\Sigma }`$ if and only if $`X_q\mathrm{\Sigma }`$ for all $`q\mathrm{\Sigma }`$.

Proof. This is clear, because $`\mathrm{\Sigma }=\overline{\mathrm{\Sigma }}_p`$. $`\mathrm{}`$

Fix a minimal $`k`$-section for $`(G,V)`$ and a $`G`$-regular $`p\mathrm{\Sigma }`$. Let $`𝔨`$ be the Lie subalgebra of $`𝔤`$ generated by all the $`X𝔤`$ such that $`X_p\mathrm{\Sigma }`$ and let $`K`$ be the associated connected subgroup of $`G`$. Let $`G_\mathrm{\Sigma }^0`$ the connected component of the identity in $`G_\mathrm{\Sigma }`$. Denote by $`G^{}`$ the subgroup of $`G`$ generated by $`G_\mathrm{\Sigma }^0`$ and $`K`$. Note that the orbits $`G^{}p`$ and $`Gp`$ have the same tangent space at $`p`$ (cf. Lemma 4.8). Therefore they are equal. Since $`Gp`$ is a principal orbit, it is not hard to show that $`(G^{},V)`$ and $`(G,V)`$ are orbit equivalent (cf. Lemma 3.6 in ). By replacing $`G`$ by $`G^{}`$, we may now assume that $`G`$ is generated by $`G_\mathrm{\Sigma }^0`$ and $`K`$. Next we show that $`K`$ is a normal subgroup of $`G`$. It is enough to show that if $`X𝔤`$ satisfies $`X_p\mathrm{\Sigma }`$ and $`gG_\mathrm{\Sigma }`$, then $`Y=gXg^1𝔨`$. In fact, $`Y_{gp}=gX_pg\mathrm{\Sigma }=\mathrm{\Sigma }`$ and hence $`Y𝔨`$ by Corollary 4.18. Since $`K`$ is normal in $`G`$, we get that $`G`$ is a quotient of the semidirect product of $`G_\mathrm{\Sigma }^0`$ and $`K`$.

###### Proposition 4.19

Let $`(G,V)`$ be irreducible with nontrivial copolarity $`k`$ and assume that $`\mathrm{\Sigma }`$ is a $`k`$-section. Then, for every $`G`$-regular $`p\mathrm{\Sigma }`$, there does not exist a nonzero $`\xi \nu _p(Gp)`$ such that the Weingarten operator $`A_\xi |__p=0`$.

Proof. Suppose there is a nonzero $`\xi \nu _p(Gp)`$ such that the Weingarten operator $`A_\xi |__p=0`$. Let $`\widehat{\xi }`$ be the equivariant normal vector field along $`Gp`$ which extends $`\xi `$. Then $`_u^{}\widehat{\xi }=0`$ for all $`u_p`$ by Corollary 6.6 below. This implies that $`\widehat{\xi }`$ is constant on $`Kp`$ as a vector in $`V`$, so that $`\xi `$ is in the fix-point set of $`K`$. Since $`K`$ is normal in $`G`$, the fix-point set of $`K`$ is $`G`$-invariant. Since $`G`$ is irreducible on $`V`$, $`K`$ must be trivial on $`V`$ and then $`\mathrm{\Sigma }=V`$, but this is impossible as $`(G,V)`$ has nontrivial copolarity. $`\mathrm{}`$

###### Corollary 4.20

Let $`(G,V)`$ be irreducible with nontrivial copolarity $`k`$. Then the cohomogeneity of $`(G,V)`$ is less than $`\frac{l(l+1)}{2}`$, where $`l`$ is the codimension of a $`k`$-section in $`V`$.

Proof. Let $`Gp`$ be a principal orbit and choose a minimal $`k`$-section $`\mathrm{\Sigma }p`$. It follows from Proposition 4.19 that the map

$$\xi \nu _p(Gp)A_\xi |__p\text{Sym}^2(_p^{})$$

is injective, where $`\text{Sym}^2(_p^{})`$ denotes the symmetric square of the dual space of $`_p`$. Now we need just note that $`dim_p=l`$. $`\mathrm{}`$

###### Corollary 4.21

Let $`(G,V)`$ be irreducible with nontrivial copolarity $`k>0`$ and let $`n`$ be the dimension of a principal orbit. Then $`kn3`$.

Proof. If $`k=n1`$, then $`l=nk=1`$, and by Corollary 4.20 the codimension of a principal orbit is $`1`$. In this case $`G`$ is transitive on the unit sphere and therefore polar, so this case is impossible.

If $`k=n2`$, then $`l=2`$ and the codimension of a principal orbit is at most $`3`$. Here $`G`$ is either polar on $`V`$, or has copolarity $`1`$ and cohomogeneity $`3`$, by the classification of irreducible representations of cohomogeneity at most $`3`$ . Since $`k>0`$, we must have $`k=1`$. Then $`n=3`$, but none of the irreducible representations of cohomogeneity $`3`$ has principal orbits of dimension $`3`$. So this case is impossible either. $`\mathrm{}`$

We next characterize the orthogonal representations of nontrivial copolarity whose distribution $``$ is integrable.

###### Theorem 4.22

Let $`(G,V)`$ be an orthogonal representation with nontrivial copolarity. Suppose that the distribution $``$ is integrable. Then there is an orthogonal decomposition $`V=V_1V_2`$, a polar representation $`(K,V_1)`$ and another orthogonal representation $`(H,V_2)`$ such that $`(G,V)`$ is orbit equivalent to the direct product representation $`(K\times H,V_1V_2)`$. Here the leaves of $``$ correspond to the $`K`$-orbits.

Proof. Let $`K`$ be the normal subgroup of $`G`$ as above. We first show that the leaves of $``$ coincide with the $`K`$-orbits. For that purpose, note that $`_qT_q(Kq)`$ for every $`G`$-regular $`q\mathrm{\Sigma }`$, and then $`_qT_q(Kq)`$ for every $`G`$-regular $`qV`$, as every $`K`$-orbit intersects $`\mathrm{\Sigma }`$ and $``$ is $`K`$-invariant. It follows that, if $`p\mathrm{\Sigma }`$ is a fixed $`G`$-regular point and $`\beta `$ is the leaf of $``$ through $`p`$, then $`\beta Kp`$. Let $`K_\beta ^0`$ denote the connected component of the stabilizer of $`\beta `$ in $`K`$. It is clear that $`K_\beta ^0p=\beta `$. Let $`X𝔤`$ be such that $`X_p=u_p`$. Since $`_p=T_p\beta =T_p(K_\beta ^0p)`$, there is an $`Y`$ in the Lie algebra of $`K_\beta ^0`$ such that $`Y_p=u`$. Now $`Z=XY𝔨`$ and $`Z_p=0`$. Therefore the one-parameter subgroup of $`K`$ generated by $`Z`$ is in the isotropy subgroup $`K_p`$. But $`K_pK_\beta ^0`$, since $`K`$ maps $``$-leaves onto $``$-leaves. It follows that $`Z`$ is in the Lie algebra of $`K_\beta ^0`$ and so is $`X`$. Since $`X`$ is an arbitrary generator of $`𝔨`$, it follows that $`K_\beta ^0=K`$ and hence $`\beta =Kp`$.

Now it is clear that $`\mathrm{\Sigma }`$ is a section of $`(K,V)`$ so that $`(K,V)`$ is polar. Note that the $`G`$-regular points in $`V`$ are also $`K`$-regular. Let $`N`$ denote the normalizer of $`K`$ in the orthogonal group $`𝐎(V)`$. Then $`N`$ maps $`K`$-orbits onto $`K`$-orbits. Let $`nN`$. Since $`\mathrm{\Sigma }`$ intersects all $`K`$-orbits, there is $`kK`$ such that $`knp\mathrm{\Sigma }`$. Now $`kn`$ maps $`\mathrm{\Sigma }`$ onto $`\mathrm{\Sigma }`$. The principal $`K`$-orbits are isoparametric in $`V`$ and $`kn`$ preserves their common focal set. Therefore $`kn`$ preserves the focal hyperplanes in $`\mathrm{\Sigma }`$. Decompose $`\mathrm{\Sigma }`$ into an orthogonal sum $`\mathrm{\Sigma }_1V_2`$, where $`\mathrm{\Sigma }_1`$ is the span of the curvature normals of the principal $`K`$-orbits. If $`q\mathrm{\Sigma }`$ is $`K`$-regular, then $`Kq`$ is full in the affine subspace $`q+V_1`$, where $`V_1`$ is the orthogonal complement of $`V_2`$ in $`V`$, and $`K`$ acts trivially on $`V_2`$. The decomposition $`V=V_1V_2`$ is $`N`$-invariant. Now $`kn`$ maps $`\mathrm{\Sigma }_1`$ onto $`\mathrm{\Sigma }_1`$ and maps the $`K`$-orbits in $`V_1`$ onto $`K`$-orbits in $`V_1`$. Therefore $`kn`$ is in the Weyl group of $`(K,V_1)`$, which is a finite group generated by the reflections on the focal hyperplanes in $`\mathrm{\Sigma }_1`$. It follows that $`kn`$ maps a $`K`$-orbit in $`V_1`$ onto the *same* $`K`$-orbit in $`V_1`$. In particular, if $`n`$ is in the connected component $`N^0`$ of $`N`$, then $`kn`$ is the identity on $`V_1`$. In any case, $`N`$ and $`K`$ have the same orbits in $`V_1`$.

Since $`G`$ normalizes $`K`$, we have $`Kp_1=Gp_1`$ for $`p_1V_1`$, and then $`G_\mathrm{\Sigma }p_1=Gp_1\mathrm{\Sigma }=Kp_1\mathrm{\Sigma }_1`$ is finite. Now $`G_\mathrm{\Sigma }^0p_1=\{p_1\}`$. This shows that $`G_\mathrm{\Sigma }^0`$ is trivial on $`V_1`$. Since $`K`$ is trivial on $`V_2`$, the intersection $`G_\mathrm{\Sigma }^0K`$ is in the kernel of the $`G`$-action on $`V`$. Therefore we may assume that $`G_\mathrm{\Sigma }^0K=\{1\}`$. Now the action of $`G`$ on $`V`$ is orbit equivalent to the action of the direct product of $`G_\mathrm{\Sigma }^0`$ and $`K`$ and this completes the proof of the theorem. $`\mathrm{}`$

## 5 Representations of copolarity one

In this section we describe the structure of a principal orbit of a representation of copolarity one (Theorem 5.2) and classify the irreducible representations of copolarity one (Corollary 5.3). We start with a lemma with an interest of its own.

###### Lemma 5.1

Let $`(G,V)`$ be an orthogonal representation with copolarity $`k`$. Suppose that $`pV`$ is a regular point and $`\mathrm{\Sigma }`$ is a $`k`$-section through $`p`$. Then, given a Killing field $`X`$ of $`V`$ induced by $`G`$, we can write $`X=X_1+X_2`$, where $`X_1`$, $`X_2`$ are Killing fields induced by $`G`$ such that $`X_1|_\mathrm{\Sigma }`$ is always tangent to $`\mathrm{\Sigma }`$ and $`X_2|_\mathrm{\Sigma }`$ is always perpendicular to $`\mathrm{\Sigma }`$.

Proof. Let $`\overline{X}`$ be the intrinsic Killing field of $`\mathrm{\Sigma }`$ which is obtained by projecting $`X|_\mathrm{\Sigma }`$ to the tangent space of $`\mathrm{\Sigma }`$. Since $`X_p`$ is perpendicular to the normal space $`\nu _p(Gp)\mathrm{\Sigma }`$, we must have that $`\overline{X}_p`$ is tangent to $`Gp\mathrm{\Sigma }`$ at $`p`$. By Lemma 4.8, $`G_\mathrm{\Sigma }`$ acts transitively on $`Gp\mathrm{\Sigma }`$, so there exists a Killing field $`X_1`$ induced by $`G_\mathrm{\Sigma }G`$ such that $`X_{1p}=\overline{X}_p`$ (observe that the restriction to $`\mathrm{\Sigma }`$ of $`X_1`$ is always tangent to $`\mathrm{\Sigma }`$). Then $`X_2=XX_1`$ is perpendicular to $`\mathrm{\Sigma }`$ at $`p`$, and, by Corollary 4.18, we have that $`X_2|_\mathrm{\Sigma }`$ is always perpendicular to $`\mathrm{\Sigma }`$. $`\mathrm{}`$

###### Theorem 5.2

Let $`(G,V)`$ be an orthogonal representation with copolarity $`k=1`$ and let $`M=Gp`$ be a principal orbit. Then the submanifold $`M`$ of $`V`$ splits extrinsically as $`M=M_0\times M_1`$, where $`M_0`$ is a homogeneous isoparametric submanifold and $`M_1`$ is either one of the following:

1. a nonisoparametric homogeneous curve;
2. a focal manifold of an irreducible homogeneous isoparametric submanifold which is obtained by focalizing a one-dimensional distribution;
3. a codimension $`3`$ homogeneous submanifold.

Proof. It follows from the proof of Theorem B in  that the Lie algebra $`𝔥`$, which is (algebraically) generated by the projection to $`\nu _p(M)`$ of Killing fields induced by $`G`$ (restricted to $`\nu _p(M)`$), contains the normal holonomy algebra (and it is contained in its normalizer). By Lemma 5.1, $`𝔥`$ is generated by the projection of the Killing fields induced by $`G_\mathrm{\Sigma }`$, where $`\mathrm{\Sigma }`$ is a $`1`$-section through $`p`$. But if $`X`$, $`Y0`$ are such Killing fields then they must be proportional at $`p`$, since $`dim(Gp\mathrm{\Sigma })=1`$. By multiplying one of them by a nonzero scalar, we may assume that $`X_p=Y_p`$. Now, by Corollary 4.18, $`(XY)|_\mathrm{\Sigma }`$ must be always perpendicular to $`\mathrm{\Sigma }`$ and is thus zero. Therefore $`𝔥`$ is generated by $`X|_\mathrm{\Sigma }`$ and so it has dimension $`1`$. So, the restricted normal holonomy group of $`M`$ has dimension $`0`$ or $`1`$.

Let $`\overline{M}`$ be a nonisoparametric irreducible extrinsic factor of $`M`$. We may assume it is full (since we are only concerned with the geometry of $`M`$). If $`\overline{M}`$ has flat normal bundle, then, by Theorem A in , $`\overline{M}`$ is a homogeneous curve (which is not an extrinsic circle). Assume that $`\overline{M}`$ has nonflat normal bundle. Orthogonally decompose the normal bundle

$$\nu (\overline{M})=\nu _0(\overline{M})\nu _s(\overline{M}),$$

where $`\nu _0(\overline{M})`$ is the maximal parallel and flat subbundle of $`\nu (\overline{M})`$. By the Normal Holonomy Theorem , as the restricted normal holonomy group of $`\overline{M}`$ has dimension $`1`$, $`\nu _s(\overline{M})`$ has dimension $`2`$ over $`\overline{M}`$ (and the restricted normal holonomy group acts as the circle action in a two-dimensional Euclidean space); notice that there can be at most one irreducible extrinsic factor of $`M`$ with nonflat normal bundle. If the codimension of $`\overline{M}`$ is greater than $`3`$, then $`\text{rank}(\overline{M})`$ (i.e. the dimension over $`\overline{M}`$ of $`\nu _0(\overline{M}))`$ is at least $`2`$. Then, by Theorem A in , $`G`$ can be enlarged to a group admitting a representation which is the isotropy representation of an irreducible symmetric space and has $`\overline{M}`$ as an orbit. The normal holonomy tube, which has one dimension more and coincides with a principal orbit of the isotropy representation, is an irreducible isoparametric submanifold. We finish the proof by observing that there cannot be two distinct nonisoparametric irreducible extrinsic factors of $`M`$, for otherwise the copolarity would be at least $`2`$. $`\mathrm{}`$

###### Corollary 5.3

Let $`(G,V)`$ be an irreducible representation of nontrivial copolarity $`1`$. Then $`(G,V)`$ is one of the three orthogonal representations listed in the table of Theorem 1.1.

Proof. We know from Theorem 5.2 that any principal orbit is either a codimension $`3`$ homogeneous submanifold or a focal manifold of an irreducible homogeneous isoparametric submanifold. If there is a principal orbit which falls into the first case, then the cohomogeneity is $`3`$ and the result follows from the classification of cohomogeneity $`3`$ irreducible representations (see ). Suppose, on the contrary, that no principal orbit falls into the first case. Then any principal orbit is a focal manifold of an isoparametric submanifold, thus it is taut (see ). If we can show that the nonprincipal orbits are also taut, then it will follow from the classification of taut irreducible representations  that the cohomogeneity is $`3`$ and this is a contradiction.

Let $`Gq`$ be a nonprincipal orbit. We need to prove that it is tautly embedded in $`V`$. We can find a vector $`v\nu _q(Gq)`$ and a decreasing sequence $`\{t_n\}`$ such that $`t_n0`$ and $`p_n=q+t_nv`$ are $`G`$-regular points. For each $`n`$ there is a group $`K_nG`$ and an isotropy representation of a symmetric space $`(K_n,V)`$ such that $`Gp_n=K_np_n`$. Since the number of isotropy representations of symmetric spaces of a given dimension is finite, by passing to a subsequence we can assume that there is a sequence $`h_n\mathrm{𝐒𝐎}(V)`$ such that $`K_n=h_nK_1h_n^1`$ for $`n2`$. By compactness of $`\mathrm{𝐒𝐎}(V)`$, again by passing to a subsequence we can write $`h_nh\mathrm{𝐒𝐎}(V)`$. Let $`K_{\mathrm{}}=hK_1h^1`$. We finally prove that $`K_{\mathrm{}}q=Gq`$. Since $`(K_{\mathrm{}},V)`$ is conjugate to the isotropy representation of a symmetric space, its orbits are tautly embedded , and this shows that $`Gq`$ is taut.

Let $`kK_{\mathrm{}}`$. We have that $`k=hk_1h^1`$ for some $`k_1K_1`$, and then $`k=limk_n`$, where $`k_n=h_nk_1h_n^1K_n`$ for $`n2`$. Since $`K_np_n=Gp_n`$, there is $`g_nG`$ such that $`g_np_n=k_np_n`$. By passing to a subsequence we may assume that $`g_ngG`$. Now $`kq=limk_np_n=limg_np_n=gqGq`$, and this proves that $`K_{\mathrm{}}qGq`$. Since the reverse inclusion is clear, this completes the proof of the claim and the proof of the corollary. $`\mathrm{}`$

###### Remark 5.4

Regarding Theorem 5.2 and Corollary 5.3, we know examples of reducible representations of nontrivial copolarity $`1`$, but all of them have cohomogeneity $`3`$. Thus we do not know if case (ii) in Theorem 5.2 indeed can occur.

## 6 Variational co-completeness

Let $`N`$ be a submanifold of a complete Riemannian manifold $`M`$. Let $`\eta :\nu (N)M`$ denote the *endpoint map* of $`N`$, that is, the restriction of the exponential map of $`M`$ to the normal bundle of $`N`$. A point $`q=\eta (v)`$ is a *focal point of $`N`$ in the direction of $`v\nu (N)`$of multiplicity $`m>0`$* if $`d\eta _v:T_v\nu (N)T_qM`$ is not injective and the dimension of its kernel is $`m`$. Let $`v\nu _p(N)`$ and $`\gamma _v`$ denote the geodesic $`t\mathrm{exp}_p(tv)`$. A Jacobi field along $`\gamma _v`$ is called an $`N`$-*Jacobi field* if it is the variational vector field of a variation through geodesics that are at time zero orthogonal to $`N`$. We will denote the space of $`N`$-Jacobi fields along $`\gamma _v`$ by $`𝒥^N(\gamma _v)`$. It is not difficult to see that $`J`$ is an $`N`$-Jacobi field along $`\gamma _v`$ if and only if $`J(0)T_pN`$ and $`J^{}(0)+A_vu\nu _p(N)`$, where $`p`$ is the footpoint of $`v`$, $`u=J(0)`$ and $`A_v`$ is the Weingarten map in direction $`v`$. The point $`q`$ is a focal point of $`N`$ in the direction $`v`$ if there is an $`N`$-Jacobi field along $`\gamma _v`$ that vanishes in $`q`$. We will denote the space of $`N`$-Jacobi fields along $`\gamma _v`$ that vanish in $`q`$ by $`𝒥_q^N(\gamma _v)`$.

Now let $`(G,M)`$ be an isometric action of a compact Lie group $`G`$ on the complete Riemannian manifold $`M`$. The action $`(G,M)`$ is called *variationally complete* if every Jacobi field $`J𝒥_q^N(\gamma _v)`$, where $`N`$ is a $`G`$-orbit and $`q`$ is a focal point of $`N`$ in the direction of $`v`$, is the restriction along $`\gamma _v`$ of a Killing field on $`M`$ induced by the action of $`G`$.

More generally, let $`N`$ be a fixed principal orbit of an isometric action $`(G,M)`$ and let $`pN`$. For each $`v\nu _p(N)`$, we have an isomorphism $`𝒥^N(\gamma _v)T_pN\nu _pN=T_pM`$ given by $`J(J(0),J^{}(0)+A_vJ(0))`$. Let $`U_p`$ be a subspace of $`T_pM`$ with the following property:

1. for each $`v\nu _p(N)`$, if $`J𝒥^N(\gamma _v)`$ vanishes for some $`t_0>0`$ and $`(J(0),J^{}(0)+A_vJ(0))`$ is orthogonal to $`U_p`$, then $`J`$ is the restriction along $`\gamma _v`$ of a $`G`$-Killing field.

Of course, $`U_{gp}`$ can always be taken to be $`g_{}U_p`$, where $`gG`$, and in particular, $`U_p`$ can always be taken to be $`G_p`$-invariant. Moreover, $`U_p`$ can always be taken to be all of $`T_pM`$. In any case we write $`\text{covar}_N(G,M)dimU_p`$. We say that the *variational co-completeness* of $`(G,M)`$ is less than or equal to $`k`$, where $`k`$ is an integer between $`0`$ and $`dimM`$, and we write $`\text{covar}(G,M)k`$, if $`\text{covar}_N(G,M)k`$ for all principal $`G`$-orbits $`N`$. Clearly, $`\text{covar}(G,M)0`$ (or, in this case, $`\text{covar}(G,M)=0`$) if and only if $`(G,M)`$ is variationally complete, and one cannot do better than $`\text{covar}(G,M)dimM`$ for a generic isometric action. In the next section we will describe a situation where the intermediate values occur.

Observe that the intersection of two subspaces of $`T_pM`$ with property (P) does not need to have that property, so we cannot speak of a minimal subspace with property (P). Nonetheless, given a general isometric action $`(G,M)`$ and a $`G`$-regular $`pM`$, we next show how to construct a canonical subspace $`U_p^0`$ of $`T_pM`$ with property (P). Let $`N=Gp`$. For each $`v\nu _p(Gp)`$ and $`q`$ a focal point of $`N`$ in the direction $`v`$, consider the subspace $`\stackrel{~}{U}_p^{v,q}`$ of $`T_pM`$ spanned by the initial conditions $`(J(0),J^{}(0)+A_vJ(0))`$ for all $`J𝒥_q^N(\gamma _v)`$. Now take the subspace of $`\stackrel{~}{U}_p^{v,q}`$ spanned by the initial conditions of all $`G`$-Killing fields in $`𝒥_q^N(\gamma _v)`$ and let $`U_p^{v,q}`$ denote its orthogonal complement in $`\stackrel{~}{U}_p^{v,q}`$. Finally, define $`U_p^0`$ as the sum over $`v`$, $`q`$ of the subspaces $`U_p^{v,q}`$. It is clear that $`U_p^0`$ has property (P). Note also that these $`U_p^0`$, for $`pN`$, define a $`G`$-invariant distribution on $`N`$.

### 6.1 The theorem of Conlon for actions admitting $`k`$-sections

In this section we prove a version of Conlon’s theorem .

###### Theorem 6.1

If $`(G,M)`$ is an isometric action admitting a $`k`$-section which is flat in the induced metric, then $`\text{covar}(G,M)k`$.

Let $`N=Gp`$ be a principal orbit, $`v\nu _p(N)`$, and choose a flat $`k`$-section $`\mathrm{\Sigma }`$ through $`p`$.

###### Lemma 6.2

Let $`J`$ be an $`N`$-Jacobi field along $`\gamma _v`$ such that $`J(0)_p`$. If $`J(t_0)=0`$ for some $`t_0>0`$, then $`J`$ is always orthogonal to $`\mathrm{\Sigma }`$.

Proof. Decompose $`J=J_1+J_2`$, where $`J_1(t)`$ and $`J_2(t)`$ are respectively the tangent and normal components of $`J(t)`$ relative to $`T_{\gamma _v(t)}\mathrm{\Sigma }`$. Since $`\mathrm{\Sigma }`$ is totally geodesic, $`J_1`$ and $`J_2`$ are Jacobi fields along $`\gamma _v`$. Now $`J_1`$ is a Jacobi field in $`\mathrm{\Sigma }`$ with $`J_1(0)=J_1(t_0)=0`$. Since $`\mathrm{\Sigma }`$ is flat, we have that $`J_1`$ identically vanishes and hence $`J=J_2`$. $`\mathrm{}`$

###### Lemma 6.3

Let $`J`$ be an $`N`$-Jacobi field along $`\gamma _v`$ such that $`J(0)_p`$. If $`J`$ is the restriction along $`\gamma _v`$ of a $`G`$-Killing field on $`M`$, then $`J`$ satisfies $`J^{}(0)+A_vJ(0)=0`$.

Proof. Let $`X`$ be a $`G`$-Killing field on $`M`$ which restricts to $`J`$ along $`\gamma _v`$. Note that $`X_p=J(0)_p`$. Denote by $``$ the Levi-Civita connection of $`M`$. Now $`J^{}(0)=(_vX)_p`$. Let $`E(t)`$ be any vector field along $`\gamma _v(t)`$ which is normal to $`G\gamma _v(t)`$. Then $`E(t)`$ is tangent to $`\mathrm{\Sigma }`$ for small $`t`$. We have $`𝒽J^{}(0),E𝒾_p=𝒽_vX,E𝒾_p=𝒽X,_vE𝒾_p=0`$. Therefore $`J^{}(0)T_pN`$, and this implies $`J^{}(0)+A_vJ(0)T_pN`$. Since we already have $`J^{}(0)+A_vJ(0)\nu _pN`$, we get that $`J^{}(0)+A_vJ(0)=0`$. $`\mathrm{}`$

###### Lemma 6.4

Let $`J`$ be an $`N`$-Jacobi field along $`\gamma _v`$ such that $`J(0)_p`$. Then $`J`$ is always orthogonal to $`\mathrm{\Sigma }`$ if and only if $`J`$ satisfies $`J^{}(0)+A_vJ(0)=0`$.

Proof. If $`J`$ is always orthogonal to $`\mathrm{\Sigma }`$, then $`J^{}(0)+A_vJ(0)`$ is also orthogonal to $`\mathrm{\Sigma }`$ as $`\mathrm{\Sigma }`$ is totally geodesic. But as an $`N`$-Jacobi field, $`J`$ satisfies $`J^{}(0)+A_vJ(0)\nu _p(N)`$. Now we have $`\nu _p(N)T_p\mathrm{\Sigma }`$, hence $`J^{}(0)+A_vJ(0)=0`$. Conversely, if $`J^{}(0)+A_vJ(0)=0`$, then $`J^{}(0)=A_vJ(0)_p`$, since $`_p`$ is $`A_v`$-invariant and $`J(0)_p`$. Since $`J`$ and $`J^{}`$ are both orthogonal to $`\mathrm{\Sigma }`$ at time zero and $`\mathrm{\Sigma }`$ is totally geodesic, we deduce that $`J`$ is always orthogonal to $`\mathrm{\Sigma }`$. $`\mathrm{}`$

We finish the proof of Theorem 6.1 by observing that $`𝒟_p`$ has property (P). In fact, if an $`N`$-Jacobi field $`J`$ along $`\gamma _v`$ for some $`v\nu _pN`$ vanishes for some $`t_0>0`$ and $`(J(0),J^{}(0)+A_vJ(0))`$ is orthogonal to $`𝒟_p`$, then $`J(0)_p`$. By Lemmas 6.2 and 6.4, $`J^{}(0)+A_vJ(0)=0`$. Let $`X`$ be a $`G`$-Killing on $`M`$ such that $`X_p=J(0)`$. Then $`X`$ restricts to a Jacobi field along $`\gamma _v`$ which by Lemma 6.3 must be $`J`$.

Since Lemmas 6.2, 6.3 and 6.4 do not depend on condition (C4) in the definition of a $`k`$-section, we have the following corollary of the proof.

###### Corollary 6.5

Let $`(G,M)`$ be an isometric action. Suppose there is a flat, connected, complete submanifold $`\mathrm{\Sigma }`$ of $`M`$ satisfying conditions (C1), (C2) and (C3) in the definition of $`k`$-section. Let $`N`$ be a principal orbit, $`pN\mathrm{\Sigma }`$ and $`v\nu _pN`$. Then $`T_p(N\mathrm{\Sigma })`$ has property (P).

Let $`N`$ be a principal orbit of an isometric action $`(G,M)`$ admitting a $`k`$-section $`\mathrm{\Sigma }`$. Let $`\xi `$ be a normal vector field parallel along a curve in $`N`$ that is everywhere tangent to the distribution $``$. The next corollary implies that the principal curvatures of $`N`$ along $`\xi `$ are constant.

###### Corollary 6.6

Let $`(G,M)`$ be an isometric action admitting a $`k`$-section $`\mathrm{\Sigma }`$ (non necessarily flat). Let $`N`$ be a principal orbit, $`pN\mathrm{\Sigma }`$ and $`v\nu _pN`$. Extend $`v`$ to an equivariant normal vector field $`\widehat{v}`$ along $`N`$. Then $`\widehat{v}`$ is parallel along $``$.

Proof. By homogeneity, it is enough to show that $`_u^{}\widehat{v}=0`$ for all $`u_p`$. Let $`X`$ be a $`G`$-Killing field such that $`X_p=u_p`$. Let $`J`$ be the $`N`$-Jacobi field along $`\gamma _v`$ which is the restriction of $`X`$. Then $`J(0)=u_p`$. By Lemma 6.3, we have $`J^{}(0)+A_vu=0`$. On the other hand, since $`(L_X\widehat{v})_p=0`$, $`J^{}(0)=(_vX)_p=(_X\widehat{v})_p=A_vu+_u^{}\widehat{v}`$. Hence, $`_u^{}\widehat{v}=0`$.  $`\mathrm{}`$

### 6.2 A weak converse for 5.1 in the Euclidean case

In this section we prove a sort of converse to Theorem 6.1 in the Euclidean case (Theorem 6.8) and obtain, as a corollary, a generalization of a result about polar representations (Corollary 6.10). First, observe that if $`(G,V)`$ is an orthogonal representation and $`N=Gp`$ is a principal orbit, then an $`N`$-Jacobi field $`J`$ along $`\gamma _v`$ which vanishes for some $`t_0>0`$ is necessarily of the form $`J(t)=(1\frac{t}{t_0})J(0)`$ (since the Jacobi equation in Euclidean space is $`J^{\prime \prime }=0`$). Therefore the vector $`J^{}(0)+A_vJ(0)=(A_v\frac{1}{t_0}\text{id}_{T_pN})J(0)`$ is simultaneously normal and tangent to $`N`$, so that it must vanish. In this way we see that an element $`J`$ of $`𝒥_q^N(\gamma _v)`$ is completely determined by the value of $`J(0)`$, so that it is enough to consider property (P) for subspaces of $`T_pN`$. Note also that the span in $`T_pN`$ of the $`J(0)`$, where $`J𝒥_q^N(\gamma _v)`$ and $`J=X\gamma _v`$ for some $`X𝔤`$, is $`T_p(G_qp)`$. We conclude that in the Euclidean case property (P) can be rewritten in the following form:

1. for each $`v\nu _p(N)`$, if $`A_vu=\lambda u`$ for some $`\lambda 0`$ and $`u`$ is orthogonal to $`U_p`$, then $`uT_p(G_qp)`$, where $`q=p+\frac{1}{\lambda }v`$.

Moreover, it follows that the canonical subspace $`U_p^0`$ is the sum, over $`v\nu _pN`$ and $`q`$ a focal point of $`N`$ in the direction $`v`$, of the orthogonal complement of $`T_p(G_qp)`$ in $`\{J(0):J𝒥_q^N(\gamma _v)\}`$. Recall that $`U_p^0`$ is $`G_p`$-invariant, but it is not clear that $`U_p^0`$ is invariant under the second fundamental form of $`N`$.

###### Proposition 6.7

Every subspace $`𝒟_p`$ of $`T_pN`$ which satisfies property ($`\text{P}_{\text{Euc}}`$) and is invariant under the second fundamental form of $`N`$ must contain $`U_p^0`$.

Proof. Suppose, on the contrary, that $`U_p^0𝒟_p`$. Then, by the definition of $`U_p^0`$, there exists $`v\nu _pN`$ and an eigenvector $`u`$ of $`A_v`$ with eigenvalue $`\lambda 0`$ such that $`u𝒟_p`$ and $`u`$ is in the orthogonal complement of $`T_p(G_qp)`$ in $`\{J(0):J𝒥_q^N(\gamma _v)\}`$, where $`q=p+\frac{1}{\lambda }v`$.

Write $`u=u_1+u_2`$, where $`u_1𝒟_p`$ and $`u_2𝒟_p`$. Then $`u_20`$. Since $`𝒟_p`$ is $`A_v`$-invariant, we get that $`A_vu_2=\lambda u_2`$. By ($`\text{P}_{\text{Euc}}`$) for $`𝒟_p`$, we have that $`u_2T_q(G_qp)`$. Therefore $`u_2u`$, but this is a contradiction to the fact that $`u_20`$. $`\mathrm{}`$

###### Theorem 6.8

Let $`(G,V)`$ be an orthogonal representation, $`N`$ be a principal orbit and suppose there is a $`G`$-invariant, $`k`$-dimensional distribution $`𝒟`$ in $`N`$ which is autoparallel in $`N`$ and invariant under the second fundamental form of $`N`$, and satisfies property ($`\text{P}_{\text{Euc}}`$). Then $`\text{copol}(G,M)k`$ (and hence, by Theorem 6.1, we have that $`\text{covar}(G,M)k`$).

Proof. Fix $`pN`$. We will prove that $`\mathrm{\Sigma }=𝒟_p\nu _p(Gp)`$ satisfies conditions (C1), (C2) and (C3) for $`(G,V)`$. For that purpose, we will use Proposition 2.2(a). Let $`v\nu _pN`$ be such that the principal curvatures of $`A_v`$ are all nonzero (note that the subset of all such $`v`$ in $`\nu _pN`$ is open and dense). Suppose that $`q=p+v`$ is a $`G`$-regular point. Let $``$ be the orthogonal complement distribution of $`𝒟`$ in $`N`$. Let $`u_p`$. Since $`𝒟`$ is $`A_v`$-invariant, we may assume that $`u`$ is an eigenvector of $`A_v`$, and we know that the corresponding eigenvalue $`\lambda `$ is not zero. Now the $`N`$-Jacobi field $`J`$ along $`\gamma _v(t)=p+tv`$ with initial conditions $`J(0)=u`$, $`J^{}(0)+A_vu=0`$ is given by $`J(t)=(1t\lambda )u`$. By property ($`\text{P}_{\text{Euc}}`$), $`J`$ is the restriction of a $`G`$-Killing field along $`\gamma _v`$. In particular, $`J(1)`$ is tangent to $`T_q(Gq)`$. Since $`Gq`$ is a principal orbit, the slice representation at $`q`$ is trivial, so the one-parameter subgroup of $`G`$ that induces $`J`$ cannot fix $`q`$ and thus $`J(1)0`$. This implies that $`uT_q(Gq)`$. We have shown that $`_pT_q(Gq)`$ in the case $`q=p+v`$ is a $`G`$-regular point and $`v\nu _pN`$ is such that the principal curvatures of $`A_v`$ are all nonzero. The case of an arbitrary $`v\nu _pN`$ follows from a limiting argument. This implies that $`\mathrm{\Sigma }`$ satisfies conditions (C1), (C2) and (C3) by Proposition 2.2(a). $`\mathrm{}`$

###### Remark 6.9

In Theorem 6.8, if it happens that the distribution $`𝒟`$ coincides with the distribution defined by the canonical subspaces, namely $`𝒟_p=U_p^0`$ for all $`pN`$, then we can show that $`\mathrm{\Sigma }`$ satisfies condition (C4) so that it is already a $`k`$-section (not necessarily minimal). In fact, following the notation of the proof, suppose that $`v\nu _pN`$ is arbitrary and $`q=p+v`$ is a $`G`$-regular point where $`q=gp`$ for some $`gG`$. We want to show that $`_p=_q`$. Note that $`T_q(\mathrm{\Sigma }N)`$ is invariant under the second fundamental form of $`N`$ at $`q`$, since $`\mathrm{\Sigma }`$ is totally geodesic. Moreover, $`T_q(\mathrm{\Sigma }N)`$ has property ($`\text{P}_{\text{Euc}}`$) by Corollary 6.5. Now Proposition 6.7 implies that $`T_q(\mathrm{\Sigma }N)𝒟_q`$. Since $`_p`$ is the orthogonal complement of $`T_q(\mathrm{\Sigma }N)`$ in $`T_qN`$, we deduce that $`_p_q`$, and thus, by dimensional reasons, $`_p=_q`$. It follows from Proposition 2.2(b) that $`\mathrm{\Sigma }`$ is a $`k`$-section.

It is known that if a principal orbit of an orthogonal representation has the property that equivariant normal vector fields are parallel in the normal connection, then the representation is polar. The following corollary is a generalization of this result.

###### Corollary 6.10

Let $`(G,V)`$ be an orthogonal representation, $`N`$ be a principal orbit and suppose there is a $`G`$-invariant, $`k`$-dimensional distribution $`𝒟`$ in $`N`$ which is autoparallel in $`N`$ and invariant under the second fundamental form of $`N`$. Let $``$ be the orthogonal complement distribution of $`𝒟`$ in $`N`$. Assume that every equivariant normal vector field on $`N`$ is parallel along $``$. Then $`\text{copol}(G,M)k`$.

Proof. It is enough to see that $`𝒟`$ has property ($`\text{P}_{\text{Euc}}`$) and use Theorem 6.8. Let $`pN`$, $`v\nu _p(N)`$ and suppose that $`A_vu=\lambda u`$ where $`\lambda 0`$ and $`u`$ is orthogonal to $`𝒟_p`$. Set $`q=p+\frac{1}{\lambda }v`$. Consider the equivariant normal vector field $`\widehat{v}`$ that extends $`v`$. Then $`_u^{}\widehat{v}=0`$ by hypothesis. Let $`X𝔤`$ be such that $`X_p=u`$. Now

$$X_q=\frac{d}{ds}|_{s=0}(\mathrm{exp}sX)q=\frac{d}{ds}|_{s=0}(\mathrm{exp}sX)p+\frac{1}{\lambda }\frac{d}{ds}|_{s=0}\widehat{v}(s)=u+\frac{1}{\lambda }(A_vu+_u^{}\widehat{v})=0.$$

Hence $`uT_q(G_qp)`$. $`\mathrm{}`$

Final questions

1. Is it true that a minimal $`k`$-section $`\mathrm{\Sigma }`$ of an orthogonal representation $`(G,V)`$, where $`G`$ is the maximal (not necessarily connected) subgroup of $`𝐎(V)`$ with its orbits, always coincides with the fixed point set of a principal isotropy group at a point $`p\mathrm{\Sigma }`$?
2. Is there an example of a focal manifold of an irreducible homogeneous isoparametric submanifold, obtained by focalizing a one-dimensional distribution, which is an extrinsic factor of a principal orbit of a *reducible* representation of nontrivial copolarity $`1`$ and cohomogeneity bigger than $`3`$?
3. Classify representations of nontrivial copolarity (in the irreducible case we believe that there should be not too many examples).

Instituto de Matemática e Estatística
Universidade de São Paulo
Rua do Matão, 1010
São Paulo, SP 05508-090
Brazil
E-mail: gorodski@ime.usp.br

Facultad de Matemática, Astronomía y Física
Universidad Nacional Córdoba
Medina Allende y Haya de la Torre
Ciudad Universitaria
5000 Córdoba Argentina
E-mail: olmos@mate.uncor.edu

Departamento de Matemática
Universidade Federal de São Carlos
Rodovia Washington Luiz, km 235
São Carlos, SP 13565-905
Brazil
E-mail: tojeiro@dm.ufscar.br