How to Keep Composure All the Time

Vedantic Niddhihasana is based on Patanjali Yoga's techniques. The more selfless you are, the calmer your mind will be according to Karma yoga and Dhyanayoga. All four yogas are a powerful practice for maintaining composure in any situation. From an Advaitic perspective, what is Krishna doing here? He is giving us the methodology of Vedantic NiddHihasana using Patanjalis methods.