There are a variety of ways of sitting, and they can all be valid for meditation.
However some are better for certain purposes than others. In general any that allow for a neutral spine are ideal for minimizing the amount of effort to keep yourself upright. Neutral spine is composed of the three curves, lumbar curved forward, thoraic curved backward, and cervical curved forward.
However if my legs fall asleep while I’m sitting, then I’ve found that the best position to get the blood flowing without getting up is the legs partly flexed position, which is posture 59.6 in the diagram.
Andrii Logan Zvorygin 