Bhagavad ramanuja and vaduka nambiSwami Ramanuja as a disciple.
Now we will see the 19th sloka:
ihaiva tair jitah sargo
yesham samye sthitam manah
nirdosam hi samam brahma
tasmad brahmani te sthitah
"Those whose minds are established in sameness and equanimity have already conquered the conditions of birth and death. They are flawless like Brahman, and thus they are already situated in Brahman."
The Lord explains further sama darshan [equal view]. Arjuna thought that it might take very long time for a Karma yogi to get atman sakshatkaram, when sama darshan would be felt. But Sri Krishna allays that fear and says in this sloka that atman sakshatkaram and sama darshan will be reached while taking efforts in Karma yoga itself. Yesham = those living being or atman, mana = mind, samye = in sama darshan, sthitham = get stabilized, tair = such persons or atman[ who have realized sama darshan], sarga = this created samsaram, ihaiva = in this effort in Karma yoga itself, jita = is won over. So, he, who has the determined mind to see all atman as one and the same, conquers samsaram while taking efforts to practice Karma yoga. All great Acharyas like Swami Shankaracharya, Swami Ramanuja or Swami Madhwacharya, have all lived in this same samsaram as we are in this Kali yug. We are afraid of this samsaram, but these graet persons conquered it here itself. It does not mean reaching Vaikuntam. But Sri Krishna tells ihaiva, which means that as the Karma yoga is practiced. Swan has an unique feature. It lives mostly in marsh, but its feet are so designed that they will never dip into the marsh and it will walk on the surface. Lotus leaf never gets wet in spite of being in water. These great persons also like these examples, conquered the samsaram from within. Brahma = here it means that atman which has attained atman sakshatkaram. It is nirdosha = blemishless. Which blemish? Related to body or prakruti or the beginningless karma are all blemishes. Here this Jeevatman is realizing that he is different from the body and that atman is an embodiment of Gyana and so all atman are equal. Therefore this atman is blemishless. Samam = in this status atman realizes equality of all atman. That is why Brahma here denotes that enlightened atman. Normally, Brahma denotes the Paramatman, because He has no blemish and for Him all are equal. Here this Jeevatman has attained that stage and so this atman could be called Brahman. Tasmad = therefore, Te = those persons, sthitham = stabilize in, Brahmani = Brahmam. This Karma yogi while practicing and taking efforts, realizes that all are same or has got sama darshan, and so this atman gets stabilized in equality and , therefore, in Brahman.