You should be able to do that on an iPad with its wifi capability. I've used an iPhone to connect to a PC.
I used asyncsocket. Here is an example: GitHub - twyatt/asyncsocket-example: Simple asyncsocket client example for iOS.
This is medium complex. Probably should start by writing the iPad server and seeing if you can connect from your PC. You need to be a member of Apple's developer program ($99). Stackoverflow can help with the iPad questions.