Bhagavad Gita · Dhyana Yoga (Atma-samyama Yoga)Chapter 6, Shloka 15 (6.15)

Shankaracharya. Śāntim uparatiṃ nirvāṇa-paramāṃ nirvāṇaṃ mokṣaḥ tat paramā niṣṭhā yasyāḥ śānteḥ — peace means cessation, whose final culmination is moksha; mat-saṃsthāṃ mad-adhīnām — dependent on Me. And further: idānīṃ yoginaḥ āhārādi-niyama ucyate — now the yogi's rules about food and so on.

Acharya Ramanuja — the Lord as the "auspicious support". Mayi parasmin brahmaṇi puruṣottame manasaḥ śubhāśraye sadā ātmānaṃ mano yuñjan — always fixing the mind on Me, the Supreme Brahman, Purushottama, who am the mind's auspicious support (sacred centre); mat-sparśa-pavitrī-kṛta-mānasatayā niścala-mānasaḥ — the mind made steady because it is purified by My touch; nirvāṇa-kāṣṭhā-rūpāṃ mat-saṃsthāṃ mayi saṃsthitāṃ śāntim. And importantly: ātma-yogam ārabhamāṇasya mano-nairmalya-hetu-bhūtāṃ manaso bhagavati śubhāśraye sthitim — for one beginning the yoga of the self, the cause of the mind's purity is the mind resting in the Lord, the auspicious support.

The difference: For Ramanuja, 6.14–6.15 show that even for vision of the self, the mind must first rest in the Lord — this is one key to his reading of the chapter. For Shankara, "mat-saṃsthā" = the peace dependent on Ishvara, which reaches its summit in moksha.