Based on the introductory verses of Chapter 16, what was the purpose of Sai Baba, the 'King of Yogis', taking a physical form?

The text of Chapter 16 explicitly states the reason for Sai Baba's incarnation. After praising him as the Stainless (Niranjana), Imperishable (Avyaya), and the One beyond attributes (Gunatita), the author declares, 'You have taken this body for the sake of helping others, to uplift the poor and lowly.' The chapter further elaborates that Baba dons the 'cloak of ignorance' in order to impart knowledge to the ignorant and provide sweet instruction, thereby fulfilling his mission of spiritual upliftment for all, which is a central theme introduced early in Chapter 16.