Very Simple PDF Generator

Build an invoicing system - PHP I need a form where I can input some information and it will create a pdf invoice when the form is submitted I have seen people use "fpdf" which is open source I think so that might be an easy option to help but its up to you. I have attached a screenshot of how the invoice should look with all of the information. The form will need to have the following fields: My Company Name (text) 5x Product Quantity (text) and Product Name (text) and Product Price (text) Total Price (text) Tax (text) Customer Company (text) Customer Name (text) Customer Address (textarea) Any other information on the invoice can just be hardcoded for now, you can make the logo any random image as long as its an tag I will replace it later. once the pdf is generated I want it to be saved to a directory. On my project I am using codeigniter so if you want to make it MVC format to match codeigniter that will be helpful although I should be able to work with whatever as long as it works.