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The changes to the CapSense IP is internal and most of the functionality is abstracted so that for the end user, it is easy to port an application for the older generation to the newer one. So, you will not see any change from an application perspective but there are some architectural changes which gives the 4100S Plus an advantage in some extreme conditions. I cannot list down these changes as these are proprietary information and cannot be shared in the public forum.
However, for your application, you can proceed with a normal 4100S device as the change is not very significant. If you have other requirements in your application such as the need for a larger flash or DMA, then you can go for 4100S Plus. Otherwise, the 4100S can be used.