You have the right to withdraw your PF accumulations whether the employer wants it or not. As you have left without proper resignation or notice period, I guess the employer is not willing to attest your forms without clearing out your dues.
In such a scenario, you can lodge a complaint directly with the Regional Provident Fund Commissioner of the region where your PF account is held.
However, before submitting the complaint, I would suggest that you send a Registered Letter to the VP / AVP - HR of the company that you were working with and demand for an attestation of your PF documents and inform that in case they are not willing to do so, you would lodge a complaint directly with the PF Commissioner and would take necessary legal steps as well.
Usually, the companies clear up the PF documents simply with such a threat. However, if they don't, Go ahead with you complaint to the Regional Provident Fund Commissioner whose address you can find from the website http://www.epfindia.com.