Which Sweetener to use?

So the Dr told us not to use Sugar, Splenda, Sweet N Low or Aspartame sweeteners, he also told us not to use Agave as he said it causes never issues (still researching on that one), but to use Xylitol (which is toxic to animals so not sure I want it in my house) or Stevia. Here is an article ab out Xylitol and dogs: http://www.snopes.com/critters/crusader/xylitol.asp  Besides Xylitol is a sugar alcohol and those really do not agree with my tummy (gives me EXTREMELY stinky gas)  So it looks like we have some research to do, we just bought a gallon of Agave on Monday :-(  We love the taste of it, and the fact that it doesn't have an aftertaste.  We did buy a 'pure' Stevia Extract where 1 teaspoon = 1 cup of Sugar and yes it's true it is that strong.  But it's like $20 for 3oz, so we'll see.  Which sweetener do you use?  I'd love to hear from you :-)

Most sweeteners have calories and carbohydrate — Examples are table sugar (sucrose), honey, brown sugar, molasses, fructose, maple syrup, cane sugar, agave nectar and confectioners sugar.
Sugar alcohols
Reduced-calorie sweeteners or "sugar alcohols" include erythritol, hydrogenated starch hydrolysates, isomalt, lactitol, maltitol, mannitol, sorbitol, and xylitol. Sugar alcohols contain fewer calories and less carbohydrate than the other sweeteners. The calorie content ranges from 0.2 calories per gram to 3.4 calories per gram (compared to 4 calories per gram for sugar). Many of these are used in foods labeled as "no sugar added" such as ice creams, cookies, puddings, and candy.
Artificial sweeteners
Low-calorie or artificial sweeteners such as ascelfume potassium, aspartame, saccharin and sucralose. You’ll find these in many food products including diet soda, baked products, light yogurt and candy.
Stevia
Rebaudioside A (rebiana also known as reb-A) is the sweetener derived from the stevia plant and is considered generally recognized as safe for use as a general purpose sweetener. This means the FDA has permitted the sweetener to be sold as a food additive and you may see it sold or listed on labels with brand names such as Truvia and PureVia.