You will want a smaller size panel if you will be moving the RV often and carting the panel in and out to place it outside. A bigger panel on the ground propped up towards the sun is better for getting in the AH, but more for if you are staying in one spot for longer periods as a practical matter for handling. (still need to carry it somewhere when on the road though)
You can add the new by just connecting its controller to the battery bank in parallel with the old set--but try to get the two controllers to have about the same voltage so they add their amps.
Your 200w choice will require an MPPT controller and the one now is likely a PWM, but they can work in parallel on the battery set to the same voltage. A 100 will likely just go on the roof with the other one and share its controller--but-
If the choice is to add the new panel to the old, then you have to check the controller's specs to see if it will do all those amps and beware of series where you add the voltages--the controller's voltage limit (total of panel Vocs) could be reached and fry the controller. Parallel is not an issue for that.