As others have posted their recommendations, I feel I should post mine.
Though a bit pricier to gain entry, the Vandersteen subs are quite unique in that the employ a high pass filter (adjustable to amp impedance). The result being that you have near seamless integration with your speakers.
The new Sub 3's have built in equalization, which allows you to 'tune' the subs to your room.
Using first order crossovers also benefits time and phase alignment.
Yes, there are less expensive ways to add subs (I also use HSU in my office), the Vandy subs make anything else look and sound silly.
Bob