There are a number of solutions: domPdf, mPdf, html2pdf, tcpdf, zendPDF (zend framework), etc. I used domPdf and mPDF very widely, while others are just "in passing." domPdf is very simple, but does not have bells and whistles. html2pdf is not bad either, however, I am partly mPDF-specific, since I think it has the best feature set. For full documentation see this link: http://mpdf1.com/manual/index.php
I turned pretty sophisticated web pages into pdfs and mPDF seems to make them better.
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