cups-config: command not found

Maybe Your $PATH variable doesn't contain the default paths? echo $PATH should give something like:

[root@server ~]# echo $PATH
/usr/local/sbin:/usr/local/bin:/sbin:/bin:/usr/sbin:/usr/bin:/root/bin

If it's empty, You may set the PATH variable with this command

export PATH="/usr/local/sbin:/usr/local/bin:/sbin:/bin:/usr/sbin:/usr/bin:/root/bin"

On CentOS possible default full paths are:

/usr/bin/cups-config - from package: cups-devel

You may install the required package with command yum install {package}

On Debian possible default full paths are:

/usr/bin/cups-config - from package: libcups2-dev

You may install the required package with command apt-get install {package}

Error in other languages:
cups-config: bevel nie gevind nie
cups-config: comandă negăsită
cups-config: comando não encontrado
cups-config: commande introuvable
cups-config: command not found
cups-config: käsku ei ole
cups-config: không tìm thấy lệnh
cups-config: komanda nerasta
cups-config: Kommando nicht gefunden.
cups-config: kommandot finns inte
cups-config: komut yok
cups-config: nie znaleziono polecenia
cups-config: níor aimsíodh an t-ordú
cups-config: no se encontró la orden
cups-config: no s'ha trobat l'ordre
cups-config: opdracht niet gevonden
cups-config: parancs nem található
cups-config: perintah tidak ditemukan
cups-config: príkaz nenájdený
cups-config: příkaz nenalezen
cups-config: команда не найдена
cups-config: командата не е открита
cups-config: 命令找不到
cups-config: コマンドが見つかりません