Bhagavad Gita · Vibhuti YogaChapter 10, Shloka 10 (10.10)

Shankaracharya. satatayuktānāṃ nityābhiyuktānāṃ nivṛttasarvabāhyaiṣaṇānāṃ — those who have turned away from all outer desires; prītipūrvakaṃ prītiḥ snehaḥ — not because of some demand, but out of affection; buddhiḥ samyagdarśanaṃ mattattvaviṣayaṃ, tena yogaḥ buddhiyogaḥ — the right vision of my true nature; mām parameśvaram ātmabhūtam ātmatvena upayānti.

Acharya Ramanuja. mayi satatayogam āśaṃsamānānāṃ — to those who long for constant union with me; aham tam eva buddhiyogaṃ vipākadaśāpannaṃ prītipūrvakam dadāmi — I give that very buddhi-yoga in its ripened state, with love. (In Ramanuja's reading "prītipūrvakam" goes with the Lord's giving.)

Madhusudana Saraswati. He clarifies "pritipurvaka": lābhapūjākhyātyādyanabhisaṃdhāya prītipūrvakam eva bhajatām — those who worship purely out of love, without wanting gain, honour or fame. And buddhi-yoga = mattattvaviṣayasamyagdarśanam — the right vision of my true nature; yena … mām īśvaram ātmatvenopayānti — by which they reach me as their own Self.

Shridhar Swami. taṃ buddhirūpaṃ yogam upāyaṃ dadāmi — I give the yoga that is understanding, that is, the means.

Vedanta Deshika. He gives the practical meaning of "satatayukta": na hi satataṃ samādhānarūpo yogaḥ śakyaḥ — samadhi every moment is not possible; so "satata-yukta" = those who hold the longing to be constantly united (Ramanuja's āśaṃsamānānām).