While the Yoga Sutra is the text of a discrete system of thought, it informs the meditative practices of other systems, in particular, Samkhya. I am not qualified to recommend one over another, but I find that of Sanderson Beck a coherent translation. The Yoga Surta describes eight steps of advanced techniques for those who have already prepared themselves by eliminating mental turmil and desire. As an advanced ascetic technique it aims to do away with normal consciousness for a consciousness that can comprehend the truth. Samadhi is a state of contemplation in which thought grasps the form of the object directly without the help of categories and the imagination.
Illusion is done away with.
Meditation can be interrupted. Samadhi is an invulnerable state. On Ohm Taking as a bow the great weapon of the upanishad, One should put upon it an arrow sharpened by meditation. Stretching it with a thought directed to the essence of That, Penetrate that Imperishable as the mark, my friend. By the undistorted man is it to be penetrated.