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Is there a table in the database or a folder where Magento (1.9 and 2.1) stores Pdf Invoices?
Magento doesn't store PDF files, it generates PDF on demand.
It keeps all the required data in different tables and compose the PDF based on configurations and PDF template.
These two extensions you can use
1 Export PDF Magento
2 Mazento PDF Extension
Required, but never shown