I came across this super informative document from Citrix detailing the setup of Citrix access on iPads and other iOS devices. The document has been written for the older version of Netscaler and XenDesktop versions but i would think there isnt much changes in terms of configuration so is worth a look.
Solution Requirements
- Windows Desktops delivered to iPhone, iPod or iPad
- Windows Applications delivered to iPhone, iPod, iPad
- ICA Proxy for Citrix Receiver iPhone, iPod & iPad
- ICA Proxy for XenApp & XenDesktop
- ICA Proxy for NetScaler Access Gateway Enterprise Edition – AGEE
Prerequisites
- Citrix NetScaler L4/7 Application Switch, version 9.1 build 101.5+ running Access Gateway (Quantity x 2 for High Availability)
- Citrix XenApp Server 5.0+ or XenDesktop 4.0+
- Microsoft Server with Active Directory
- iPhone Configuration Utility
- iPhone OS 3.0+, iPad OS
- Citrix Receiver for iPhone v2.1+
The document can be downloaded here citrix_agee_icaproxyxaxdreceiver.pdf
Citrixology 
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