I've got two subs run off miniDSP. I think some kind of DSP is almost essential with subs. I am also running the subs left and right channels. At that point, the subs completely disappear. What I really hate is being able to locate the subs in space.
If I run the subs by themselves, they're really not loud. but if you run the mains without the subs it's very clear that the music is lacking. That, to me, means something is right.
It's worth doing some kind of room eq and dsp to tune in the subs, and while one sub is good two, run left and right channels is what works for us.