Let $G$ be a connected algebraic group over an algebraically closed field. I'm trying to understand the phrase "the subvariety of semisimple elements in $G$ which are not regular." This tacitly implies that the conditions of semisimplicity and regularity must be open or closed.
For reference, an element in $g\in G$ is semisimple if $g=su$ is its Jordan decomposition and $u$ is the identity element of $G$. Also, an element is regular if the dimension of its centralizer is equal to the dimension of a maximal torus in $G$.
I believe I can prove that regularity is an open condition for $G=\mathrm{GL}_n$, as a matrix $A$ is regular if and only if $\{I,A,A^2,\ldots,A^{n-1}\}$ is a linearly independent set. How can I see that regularity is an open condition for arbitrary $G$?
Concerning semisimplicity, I read on pg. $99$ of Humphrey's "Linear Algebraic Groups" that the set of semisimple elements "$G_s$ is rarely a closed subset of $G$." In light of the phrase I'm trying to understand, are there conditions on $G$ which make semisimplicity a closed or open condition?