I think you'll find that Pedro Sauer and Lloyd Irvin have VERY different approaches to teaching.
If you have no prior experience, you should probably try both and see which one is a better fit for you.
It sounds like you may be a little too far out to consider Tony's school (
http://pfmacenter.com/), but if the drive is feasible, I think you should check that out as well. You would probably find the teaching method different than either Pedro's or Lloyd's.
Ultimately it comes down to personal preference. The best gym for you is going to be the one that you feel most comfortable with.