Bhagavad Gita -Sri Madhvacharya
(Bhashya and Tatparya Nirnaya)
The manner of renunciation of desires etc. is spoken in this verse. Restraining one's own mind and the self means being not dependent. aatma here should be understood as Mind. Renunciation of the senses makes one devoid of pride. One who is convinced that I do not perform any actions for him there are no demerits.