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While ROS allows you to write code that runs an arduino and communicates with a PC, that's about where the similarities with Matlab/Simulink/Arduino end.

You could probably implement some arduino code which excited an RC circuit and measured the response in the same way, and you could record the results, but ROS doesn't provide many software libraries for doing system identification or control system design.

ROS does have very nice integration with python so, once you had recorded results, you'd probably want to load the bag file in python and use the tools in scipy to analyze your data, and then use matplotlib to plot it.