I am a huge fan of Obsidian Onyx (formerly Martin M-Console). What's more, so long as you don't need more than four universes, it's totally free, It is very powerful, but somewhat complex and has a pretty steep learning curve, but worth the effort. They also offer a number of dedicated controllers from simple touch boards to full-sized desks. I spent a long time evaluating various software options and this beats the rest by a mile if you need power and flexibility. The only downside is it won't work with Enntec DMX interfaces, so be warned. Obsidian Control