What does it mean for partial derivative to be continuous and how does that imply differentiability?

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In order for function to be differentiable at some point, it should be well approximated at that point. I understand that partial derivatives must exist, and that function needs to be continuous, but why partial derivatives must be continuous?

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The statement is not true.

If a function has continuous partial derivatives on an open set U, then it is differentiable on U. But a differentiable function need not have continuous partial derivatives.

A standard example is the function $f(x)=x^2\sin(\frac1x)$ which is differentiable but its partial derivative with respect to x $f'(x)=2x\sin(\frac1x)-\cos(\frac1x)$ is not continuous.

For the other direction let $f:\mathbb{R}^n\to \mathbb{R}$ have continuous partial derivatives on a neighbourhood $U$ of $p$. Define a linear function $$F_p(x_1,\dots x_n)=\sum_{i=1}^nx_i\partial f(p)$$ For $x\in U$ $$\begin{align*} f(x)-f(p) &= f(x_1,\dots , x_n)-f(p_1,\dots,p_n) \\ &=f(x_1,\dots , x_n)-f(p_1,x_2,\dots x_n) \\ &+ f(p_1,x_2,\dots, x_n)-f(p_1,p_2,x_3,\dots , x_n) \\ &\qquad \vdots \\ &+ f(p_1,\dots ,p_{n-1},x_n)-f(p_1,\dots ,p_n)\end{align*}$$

Applying the Mean Value Theorem on every line gives: $$\begin{align*}f(x)-f(p) &=\partial_1f(c_1,x_2,\dots ,x_n)(x_1-p_1) \\ &+\partial_2f(p_1,c_2,x_3,\dots ,x_n)(x_2-p_2) \\ &\qquad \vdots \\ &+\partial_nf(p_1,\dots ,p_{n-1},c_n)(x_n-p_n)\end{align*}$$

With $c_i$ between $x_i$ and $p_i$. Therefore: $$\frac{f(x)-f(p)-F_p(x-p)}{\|x-p\|}=\sum \underbrace{\frac{x_i-p_i}{\|x-p\|}}_{\text{bounded}}\underbrace{(\partial_if(p_1,\dots ,c_i,\dots x_n)-\partial_if(p))}_{\to 0}$$