lpinfo: 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/sbin/lpinfo - from package: cups

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

On Debian possible default full paths are:

/usr/sbin/lpinfo - from package: cups-client

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

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