Let $M$ be a compact smooth manifold, $f$ is a smooth map between $M$ and $N$. If $y \in N$ is a regular value, then $f^{-1} (y)$ is a closed set.
I don't know why $f^{-1} (y)$ is a closed set.
Smooth maps are continuous an manifolds are Hausdorff. So $\{y\} \subseteq N$ is closed, hence its continuous preimage $f^{-1}(\{y\}) \subseteq M$ is.