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Which PDF libraries for PHP do you recommend? The ones I found all seemed to be unmaintained.
FPDF is Freeware (it is stated at the beginning of the source file). There is no usage restriction. You may embed it freely in your application (commercial or not), with or without modification. You may redistribute it, too.
For my PHP/PDF tasks I've actually always used pdftk (http://www.accesspdf.com/pdftk/), which is a command line pdf wrangler program. I just call it from php using passthru. I'm considering trying out FPDF though since it's not dependent on a specific program being installed on the server.