Paul Taylor Dance Company, one of the world’s most famous contemporary dance ensembles, has been innovating and transforming modern dance since 1954. Founder Paul Taylor (1930-2018) created 147 dances that cover a broad range of topics, themes, and moods. This summer, PTDC, now under the artistic leadership of Michael Novak, performs a program of Taylor’s energetic “Syzygy,” his awe-inspiring “Airs,” and the choreographer’s masterpiece, “Esplanade,” inspired by the sight of a girl running to catch a bus.