The iPad will only natively print to printers that are Air Print enabled.
If your printer isn't on that list there are other ways.
Look on the site for your printer manufacturer. They may have their own apps or ways to print. Some have allied themselves with online services. If they don't have ways, then you can look into third party apps like Print n Share or Print Central.
So there are plenty of ways, youjust have to look and find the one that works for you.