According to the descriptions in Chapter 16, what was the primary purpose for which Sai Baba, the 'King of Yogis,' took a physical form?

Chapter 16 explicitly states the reason for Sai Baba's incarnation. It declares, "Victory to the...King of Yogis. You have taken this body for the sake of helping others, to uplift the poor and lowly." This highlights his compassionate mission to serve humanity. The chapter further elaborates on his method, explaining that he dons a "cloak of ignorance" to impart knowledge to the ignorant. This reinforces that his primary purpose in taking a physical body was to guide, teach, and uplift all beings, especially the downtrodden, by meeting them at their own level.