When using grep(), you are iterating over each item in the list (in this case @serv). An alias to the item is made on each pass, which is stored in $_ for you. Your example does a simple pattern match against $ARGV, so let's just change that to do an equality test:
#!perl -w
use strict;
my @serv = qw(foo bar baz);
for my $arg (@ARGV) {
# exact match (foo/foo match, but not foo/Foo)
my $valid_arg = grep { $arg eq $_ } @serv;
# case insensitive (foo/foo match, so do foo/Foo)
# my $valid_arg = grep { lc($arg) eq $_ } @serv;
die("Invalid argument '$arg'.\n") unless ($valid_arg);
}
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