Thermodynamics don't work differently for polymerizations than other reactions. The driving force is jargon for the Gibbs energy (well, it does have a real meaning, but most people use it to mean the Gibbs energy).
Therefore, the driving force for polymerization of PET, or any polymer, is a function of the enthalpy change and the entropy change that occurs with each successive addition of a monomeric unit.
Let's take a look at PET.
Each step of a PET polymerization is basically a condensation between a carboylic acid group and an alcohol group to form an ester linkage. This essentially means you are breaking a C-O bond (of the carboxylic acid, say) and an O-H bond (of the alcohol) and forming a new C-O bond (ester) and new O-H bond (water). So you're breaking and forming a C-O bond and breaking and forming an O-H bond. At first glance, this seems like the enthalpy change should break even. But not so! We can call the C-O formation and breaking a wash if you want, but the O-H bond of an alcohol has a bond energy of ~436.0 kJ/mol, whereas the O-H bond of water is quite a bit stronger: about 498.7 kJ/mol. Meaning, based on these very rough estimates, that about 62 or so kJ/mol of heat energy is liberated per mole of polymerization steps.
The enthalpy change of polymerization of PET is exothermic, and negative.
If that's the case, why doesn't polymerization go on indefinitely?
The reason is because polymerization is entropically unfavorable. As the polymer grows, the system becomes more ordered: lots of monomers is more entropically favorable than one giant macromolecule. Eventually you add enough monomers and the rate of adding another monomer just about balances out the rate of removing a monomer from the existing polymer chain. At this point equilibrium is reached and the polymer no longer grows. Note that, because polymerization is entropically unfavorable, increasing the temperature will tend to favor shorter polymers. In fact, in the business there is what is called a ceiling temperature for each polymer type - at this temperature depolymerization is favored over polymerization, and it becomes difficult to grow polymers above this temperature. I'm not sure what this temperature is for PET.
http://en.wikipedia.org/wiki/Ceiling_temperatureSo, the answer to the original question is quite simple: the driving force for PET polymerization, like any polymer, is heat liberation - that is, enthalpy. It would also be correct to say that PET polymerization is primarily driven by the fact that the OH bonds of water are more stable than the OH bonds of alcohols/carboxylic acids.