All plugins that have been written to the guidelines published by the developer of nagios, will have -h. So, those plugins are not "standard" or "by the book". There is NO WAY I or anyone else could give you one answer for the mulittudes of plugins that DON'T have a help or -h.
If you have a plugin that doesn't have -h, as an option, then you will have to read the help files that came with that plugin or contact the maker of that plugin. Surely the website you downloaded it from has something.
Since you apparently have read much on nagios, then you know by now what the sytax of minimal.cfg is. If it's simply the checkcommands that you have sytax trouble with, then I'm sorry, I can't help with that, since I don't have the plugins that you are using.