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Hi there and welcome
The Epson SX430 is not on Apple's list of AirPrint-compatible printers and why your iPad does not see it
For non-AirPrint printers, you can run a program on your computer that will share its printer as AirPrint over WiFi. Two that are reported to work well are <FingerPrint> and <Printopia for Macintosh>. Your computer would have to be on and awake any time you want to print.
Else you will need an Airprint printer