It suffices to show that, for any ai∈I, 1+a1t+⋯+antn is invertible in R[t]. Let ∑ibiti be the "formal" inverse of 1+a1t+⋯+antn in the power series ring R[[t]]. Then we have: b0=1, b1=−a1, b2=−(b1a1+a2), b3=−(b2a1+b1a2+a3), etc. Let A be the companion matrix.
By direct matrix multiplication, we see that, for e=(0,…,0,1):
eA=(0,…,1,−a1)=(0,…,0,b0,b1)eA2=(0,…,0,b0,b1,−b0a2−b1a1)=(0,…,0,b0,b1,b2),eAn=(b1,…,bn−1,bn)eAn+1=(b2,…,bn,bn+1), etc.
Also, we can check that the entries of An "involve" only the ai's and not the element 1, so An∈Mn(I). By the hypothesis, An is nilpotent, so the equations for eAk above show that bk=0 for sufficiently large k. Therefore, the formal inverse for 1+∑iaiti lies in R[t], as desired.
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