GNU/Linux Ubuntu 18.04 Canon MP540/MP550/MP560 Printer Setup – Step by step Guide
The linked tutorial shows you step-by-step How to Install Canon PIXMA MP540/MP550/MP560 Printer on Ubuntu 18.04 Bionic LTS GNU/Linux desktop – Step by step Tutorial.
And the Canon PIXMA MP540/MP550/MP560 Printer Setup on Ubuntu 18.04 is granted by the GutenPrint Software because the Proprietary Driver is not available.

GNU/Linux Ubuntu Canon MP540/MP550/MP560 Printer Installation Guide