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You want to have your main speakers go low enough to let the sub take over without thier being a gap in the frequency. 80hz is standard but a lot of people like to cut off thier sub lower than that and with small speakers you usually do not get enough spl in the lower Hz to blend well with the sub.

I prefer floorstanding with a sub. You get a fuller soundstage for music and better effects for HT. If your budget or space will not support it. You can get quality sound out of bookshelf speakers with a sub.