I managed to figure out how to do this. Here's the solution for anyone who may be interested.
I created my container ViewController whose xib contained a UIView as a placeholder for the location of the PDF, then in its viewDidLoad method:
// Create the sub-ViewController, the VFR Reader ViewController
ReaderDocument *document = [ReaderDocument withDocumentFilePath:pdfFile password:nil];
_readerViewController = [[ReaderViewController alloc] initWithReaderDocument:document];
// Pass on the required delegate for handling the close button
_readerViewController.delegate = self.delegate;
// Add the VFR Reader as a child
[self addChildViewController:_readerViewController];
[self.view addSubview:_readerViewController.view];
// Set the location of the VFR Reader to the same as the placeholder view
_readerViewController.view.frame = self.pdfPlaceholder.frame;
[_readerViewController didMoveToParentViewController:self];