I personally like this package to create dynamic PDF files with PHP; however, the install instructions and documentation are horrible.

First of all, you need to have Pear installed
(open a cmd window on your server and run go-pear.bat from your PHP install directory)

Next to get File_PDF installed and working:
1. open a cmd window on your server
2. type: pear channel-update pear.php.net (hit enter)
3. type: pear upgrade-all (hit enter)
4. type: pear install HTTP_Download-1.1.3 (hit enter)
5. type: pear install File_PDF-0.3.2 File_PDF (hit enter)

That should get File_PDF installed along with all the upgraded dependencies

Now some code example:

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<?php
require ('File/PDF.php');
$p = &File_PDF::factory('P', 'mm', 'A4');
$p->open();
$p->setMargins(50, 50);
$p->addPage('P');
$p->setFont('arial', '', 15);
$p->write(10, 'This is some text');
$p->text(10, 20, 'Hello');
$p->close();
$p->output('hello.pdf'); 
?>

Enjoy!