Can I sync iBook PDFs between devices via cloud

I have iPad 2 and iPhone 4s. Both ios5. I have many PDFs in iBook.  Is there a way to keep the PDFs synced between the two through the cloud?
I assume I can do this in iTunes on the PC, but I'd like them to sync up automatically.  When I add a doc on the iPhone I'd like it to show up on the iPad.
These are not purchased docs.
Any way to do this?

+1
I'm having the same problem.  I purposefully have syncing turned off in iTunes and have everything syncing through iCloud.  Books (free or otherwise) purchased through the iBook store sync between iPhone, iPad, etc. just fine -- but pdfs aren't doing this.
Interestingly, if I manually download the same pdf to both devices, it DOES keep track of where I left off.  i.e. I start reading a pdf on the iPad and it opens to the same page when I look at it on the iPhone...

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