Transversality of smooth definable maps in O-minimal structures

We present a definable smooth version of the Thom transversality theorem. We show further that the set of non-transverse definable smooth maps is nowhere dense in the definable smooth topology. Finally, we prove a definable version of a theorem of Trotman which says that the Whitney $(a)$-regularity of a stratification is necessary and sufficient for the stability of transversality.