@gdaddy1 Subwoofer manufacturers are in business to sell subwoofers PERIOD.
They could care less about the performance of your system. Rel is handily the worst but the vast majority of them do the same half baked thing and supply their subwoofers only with low pass filters. Their reasoning is if they make things more complicated and expensive nobody would by their units. The sad thing is they are right. Digital subwoofer management has been around since 1995, invented by Radomir Bozevic (the Boz of TacT Audio). Some subs include a watered down version of room control but without a high pass filter they have no control over the main speakers which is 50% of the issue. Proper bass or subwoofer management has to know what the main speakers are doing to mate the two correctly in time and phase. Then there is the marked improvement in main speaker performance when you relieve them of the lowest octaves. This can only be done by direct measurement of a system in it's own environment. Any other way is wishful thinking which you seem to be very good at.
There is, at this time, only one best way to integrate subwoofers into a system and that is with Digital bass management. There are now units available from MiniDSP and Anthem that are very reasonably priced. Benchmark Media Systems uses a MiniDSP SHD Studio with two of their DACs to run their own system and they get great results with it. (Dirac Live) For people who can spend more there is the Trinnov Amethyst and the DEQX units which will be available to the general public shortly. The Anthem STR preamp is 1/2 the price and a great performer.
@clio09 One of the best thing about digital signal processing is you can add subwoofer and eliminate the "bump". Full range speakers like ESLs benefit the most from a high pass filter.