use IO::Socket::INET;

my $s = new IO::Socket::INET(PeerAddr => ..., PeerPort => ..., Proto => 'tcp');
unless ($s) { die "unable to connect..." }

# we are connected, so just start sending commands

print $s "first command\r\n";
my $resp = <$s>; # expect one line response
print $s "second command\r\n";
...