I know the KOPS saddle fit
I know the KOPS saddle fit gets a mixed press, but for me it has worked very well.
I personally think that saddle fore and aft is as important as height for good comfort and power.
Knee Over Pedal Spindle (KOPS) says that you should adjust the saddle to place the boney pointy bit at the top of your shin and just below the kneecap so that, if you drop a plumbline from this point it should line up directly over the pedal axle. Obviously this needs to be done on level ground.
Height is as Tony says best adjusted where the knee is slightly bent at the bottom of the stroke, but this too can be affected by whether you tend to pedal with a flat foot, toe down or heel down, so there is no hard and fast rule but rather what feels best for you.
KOPS put me quite a bit further forward than I thought intuitively was my position, and I have felt much more comfortable on the bike since adopting this method. As I say, there are many more knowledgable people than me that have dismissed it as not relevant, but it does also have as many high profile advocates too. I think it is a good place to start and never very far off.