He is survived by a brother.
Sudarshan had been ailing for sometime and was under the care of an attendant.
According to Vikas Telang, an official of RSS headquarters, Sudarshan had gone for his usual morning walk Saturday and later returned to the RSS headquarters in Raipur.
Some RSS volunteers noticed that Sudarshan had fallen down while meditating in his room, said Telang.
Believing him to be asleep, they shook him but he was motionless. Later, a medico was summoned who confirmed Sudarshan dead.
His body shall be brought to the RSS national headquarters in Nagpur Saturday evening and kept in its Reshim Baug premises, said Telang.
The last rites will be conducted in Nagpur Sunday afternoon, he added.
Sudarshan led the RSS between 2000-2009, before seeking voluntary retirement due to health problem.