I wonder that whether there exists a version of the inverse function theorem for smooth maps from a smooth manifolds with boundary to a smooth manifold without boundary? More precisely, whether the following assertion is true?

Let $M$ be a smooth manifold with boundary $\partial M$ and $N$ be a smooth manifold without boundary whose dimension $d$ is equal to the dimension of $M$. Let $f$ be a smooth map from $M$ to $N$. Assume that there exists a point $x\in \partial M$ such that the rank of $f_M$ at $x$ is $d$ and the rank of $f_{\partial M}$ on $x$ is $d-1$. Then there exists a open neignborhood $U$ of $x$ on $M$ such that $f_{U}$ is a diffeomorphism from $U$ onto $f(U)$.

Any references or comments are well appreciated. Thanks a lot!