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What are sufficient conditions on $f, g : \mathbb{R}^n \to \mathbb{R}$ such that `$\{x : f(x) \geq t \} \cup \{ x : g(x) \geq u\}$` has piecewise-smooth boundary?

What are sufficient conditions on $f, g : \mathbb{R}^n \to \mathbb{R}$ such that $\{x : f(x) \geq t \} \cup \{ x : g(x) \geq u\}$ has piecewise-smooth boundary? Some remarks: I don't mind if the ...