It is weird but you can do something to get those ids. Try this on you developer console and you can get the ids for those PermissionSets with Type = Regular, is the only way I know :) :
List<Id> idList = new List<Id>();
List<PermissionSet> listofTypes =[
SELECT Type, Id
FROM PermissionSet
WHERE Type != null];
System.debug(listofTypes.size());
for(PermissionSet per : listofTypes) {
if(per.Type == 'Regular') {
idList.add(per.Id);
}
}
System.debug('PermissionSets amount with Type regular: ' + idList.size());
PermissionSet theOnePer = [ SELECT Type FROM PermissionSet WHERE Id = :idList[0]];
System.debug('The type is? : ' + theOnePer.Type);