Formal definition. (Important Understand the formalism of the transistion function. It eventually maps sets of states and a symbol into a set of states.)
The main theorem: nondeterministic automata accept only regular languages.
Proof idea: the collection of subsets of a finite set is finite. See the
definition of the transition function of a nondeterministic automaton: it is
a deterministic automaton if subsets of states are viewed as a "STATE".
Epsilon-transitions.
Theorem: still accepts only regular languages.
BUT much easier to prove some theorems, like the closure properties below.
Proofs by pictures of nfa with epsilon-transitions.