Iyengar popularised Yoga which was the symbol of rich Indian tradition to the western world, Siddaramaiah said in his condolence message.
Iyengar passed away early this morning in Pune following illness.
96-year-old Iyengar had been ailing for some time and was admitted to a private hospital here a week back. He was put on dialysis after his condition worsened two days back. He breathed his last at 3.15 am.
He said Iyengar who had written several books on Yoga was instrumental in enlightening people that Yoga was not just a form of exercise, but a scientific method of maintaining both physical and mental health. Iyengar was special ambassador from the field of Yoga, he added.