I've been researching the spark plug issues myself for a while now.
I originally felt it was best to do a direct replacement of what Hyundai put in the vehicle at the factory. For example, my 2004 Santa Fe came from the factory with NGK Laser Series Platinum plugs. These are the best "double platinum" spark plugs NGK makes for the Santa Fe, with both the electrode centre and ground being made of platinum. I've replaced these plugs now with the identical NGK plugs that came out of it (PGR5C-11) and no problems. It is interesting to note here that for the 2.4L 2004 Santa Fe, Hyundai chose the "middle of the road" spark plug. They could have gone with the cheaper NGK "G-Power Platinum" that only had the centre electrode tip made of platinum, but they didn't.
What changed my mind about using the direct replacement from the factory was the original factory plugs I removed out of my 2009 Accent, which were Champion copper/nickel plugs. Unlike my Santa Fe, Hyundai chose to use the cheapest possible spark plugs for the Accent...not even platimum based plugs! The direct replacement plugs, had I used them, were literrally $2 plugs!
Now both vehicles were running fine with the stock plugs, but the I think the general rule of thumb with spark plugs is that as long as they are the proper ones for your vehicle, the real "difference" between, copper/nickel, platinum, and iridium is only the life span of the plugs. From the research I've done it goes like this:
COPPER/NICKEL - 40,000 km
PLATINUM - 60,000 km
DOUBLE PLATINUM - 80,000 km
IRIDIUM 100,000 km
So seeing that Hyundai chose to use the "double platinum" plugs on the Santa Fe (60,000km) and the Copper/Nickel plugs on the Accent (40,000km) I think it's really a matter of preference on what you want to pay. For the Accent I had the choice of paying $2 for direct replacement copper/nickel plugs or $15/plug for the double platinum ones (NGK Laser Series).
The only REALLY nice thing about our Santa Fe's (assuming you have a 2.4L) and the Accent 1.6L is the spark plugs are VERY, VERY EASY to access and replace. Now if you have a 2.7L or 3.5L Santa Fe, I understand the job requires more work. My wife has a Nissan pickup and I can tell you it's nothing short of a b*itch to replace them and you have to remove a multitude of hoses and wires, over a dozen bolts...just a real pain the ass!
So if it's real easy to change them then the cheaper ones are fine, you'll just have to replace them every couple of years, or if it's hard to replace them, then probably the iridiums are a better choice as they won't need replacing for about 5 years! (based on an average of 20,000km driving a year which is about average for most).
One thing however that I have discovered is that almost everyone I've asked, both on forums like this, at the dealership and in person recommend NGK plugs over Champion or any other brand. The price between Champion and NGK's is significant for "similar" types of plugs. ie. about half the price for Champion's where i live compaired to the "equivelant" type of NGK. Still, I've yet to find anyone who, given the choice, would NOT take NGK as their first choice. So I've used NGK's in all my Hyndai's (my family has 5 of them now) and I'm very happy with them as well!
Good luck!