Yes. You need to install Full Text Search (FTS) and configure it to index PDF's. FTS is free with Teamcenter, no extra license required. Once installed and configured then you can use the "Keyword" search.
A new method leverages Apache SOLR and Active Workspace. It's a little more difficult to set up and manage but is a lot more powerful.
NX 11 | SW 2016 | Creo 4 | TcUA 11.4
Evaluating: AW 3.4