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

Bhagavad Gīta Bhāshya

asaṁyatātmanā yogo duṣprāpa iti me matiḥ। vaśyātmanā tu yatatā śakyo'vāptumupāyataḥ ॥36॥

In my opinion, Yoga is difficult to attain by those who lack self control. However, it can be achieved through proper methods by those who are striving and have self-discipline.

The mind is never controlled on its own.

na ca kadācit svayameva mano niyamyate -

Indeed, the mind is never controlled on its own.

"śubhecchārahitānāṁ ca dveṣiṇāṁ ca ramāpatau। nāstikānāṁ ca vai puṁsāṁ sadā muktirna jāyate॥"

"Liberation never arises for the people who are devoid of wishes seeing wellbeing, who are envious towards the Lord of Lakshmi, and those who are atheists."

iti niṣedhāt brāhme ॥36॥

- thus (liberation) is prohibited (for the uncontrolled) in the Brāhma Purāna.

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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