Hey lsepolis123,
You can use either computer you desire to use to back up your iPad. Both a Mac and PC can be used to back up. Check out this article for steps: Back up iPad. That article provides you with 3 sections; Back up iPad using iCloud, Back up iPad using your Mac, Backup iPad using your Windows PC. Pick the section based on what you desire to use for your backup method. Backups to your computer are done manually when you connect it.
As for incremental backups, every time you perform a manual back up on your computer, you are performing a full backup of your device. If you enable iCloud Backups in your iPad settings and have enough storage, iCloud will create an updated backup every night for you automatically: What does iCloud back up?
Best regards.