Lubuntu doesn't use pulse audio, only ALSA. The only tools that come with it are alsamixer, alsactl, and aplay.
I have already managed to output sound from my TV using this command:
aplay -D plughw:0,3 /usr/share/sounds/alsa/Front_Center.wav
How can I switch to HDMI without installing pulseaudio, or anything else, using only the tools that are already available out of the box?