These are texts that appeared on my old site which I have not reformatted for the new one. The original pages can be accessed at the following links:
A translation and commentary of Bhagavan’s thirty-verse poem by Sadhu Om and Michael James. The pdf is here: https://davidgodman.org/rteach/Upadesa_Undiyar.pdf
A translation and commentary on Bhagavan’s poem by Sadhu Om and Michael James. The pdf is here: https://davidgodman.org/rteach/Arunachala%20Pancharatnam%202007-10-2.pdf