Yep. When the ipad is connected, there's a tab for music, which includes a checkbox for sync'ing music (or not)
You choose if you want to sync, and if so; what playlists (or entire library)
That is the answer to the question you asked.
Now the answer for the question you didn't ask.
iTunes allows up to five computers per account and unlimited iPods/iPhones/iPads per computer for one household.
Currently I have four computers, two iPods, two iPod touches, two iPhones, and one iPad syncing to my one account.