Your options seem to be kind of slim. There are many printing apps available, but from what I have read many of them do no perform properly.
Apple's official answer seems to be syncing your documents to your PC or laptop and then printing from the computer.
Try doing a quick search in the App Store and maybe you will have better luck and find one that will work with your printer.
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I have had some luck printing from my ipad using PrinterPro.
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