Let $f:\mathbb{R}^{m+k}\mapsto\mathbb{R}^k$ be a smooth function. I have seen quite a few books for Morse theory for $f$ when $k=1$. Is there a generalization to $k\geq2$? When $k=1$, we can define a Morse function $f$ by checking the eigenvalues of its Hessian at its critical points. What is the corresponding concept of (non-)degeneracy of critical points when $k\geq 2$? Is there a normal (quadratic) form of $f$ near its nondengerate critical points when $k\geq 2$, as given in the classical Morse lemma? Any references will also be appreciated.