Madhvacharya's Dvaita Vedanta and translation of Sarvamoola containing Bhagavad Gita, Upanishads, and Brahmasutra.

Bhagavad Gīta Bhāshya

yuktaḥ karmaphalaṁ tyaktvā śāntimāpnoti naiṣṭhikīm। ayuktaḥ kāmakāreṇa phale sakto nibadhyate ॥12॥

The one who is engaged in Yoga, renouncing the fruits of action, attains unwavering peace, while the one who is not engaged in Yoga, driven by desire, expectant of results, is bound.

'yukto' - one who is engaged in the practice of Yoga. The rule that applies regarding performing actions with expectation and without expectation is reiterated again.

punaḥ yuktyādiniyamanārthaṁ yuktāyukta phalamāha - yukta iti। yukto yogayuktaḥ॥12॥

For the sake of explaining the rule with respect to engaging oneself in Yoga, the results are again stated by 'yukta' verse. The word 'yukto', i.e. engaged, means one who is engaged in the practice of Yoga.

बहुचित्रजगद्बहुधाकरणात् परशक्तिरनन्तगुणः परमः ।
सुखरूपममुष्य पदं परमं स्मरतस्तु भविष्यति तत्सततम् ॥
"The one who has created this variegated vast universe with varied forms has infinite power and is of infinite auspicious qualities. He certainly bestows the highest state of bliss to those who meditate on his ever happy essence." -Dwādasha stōtra 4.3

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