use Net::Cisco;
use Net::Telnet();
                                           # consider: use strict; 

$t =Net::Telnet::Cisco->new(Host=>'$ip');  # doesn't work: '$ip' -> $ip (BTW: where is $ip defined?)
print "connected";                         # a bold statement w/o any test (e.g. checking $t)
$t->login('', '');
$t->cmd("telnet 192.168.201.3");           # failure? success? no check here
$k=Net::Telnet->new(Timeout=>10,Errmode=>'die'); 
                                           # You are opening a second session from localhost!
                                           # Try to do the $k-stuff from within the $t-session.
$k->open("192.168.201.3")or die "$k->errmsg";
print "connected";                         # see above
$k->waitfor('password:$/i');
$k->print("public");
$k->waitfor('>$/i');
@output=$k->print("show system");
open(CONFIG,">config.txt");                # three argument open + check would be nice
print CONFIG "@output\n"; 
close(CONFIG);
$k->close;
$t->close;