This pdfgrep tool will do the job. It has syntax similar to grep. Searching in multiple files is just a simple shell script. For instance:
$> ls Documents/*.pdf | xargs pdfgrep -n -H "system"
Documents/2005-DoddGutierrezRO-MAN1.pdf:1: designed episodic memory system
Documents/2005-DoddGutierrezRO-MAN1.pdf:1: how ISAC episodic memory system is
Documents/2005-DoddGutierrezRO-MAN1.pdf:1: cognitive system employs a combination
....
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