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Yeah PS control sticks are awkward. I'm not too keen on the d-pad either, i like the layout [middle of pad hidden] but you seem to have to press hard for anything to happen.
My vote would go to GC.
2nd is N64
3rd is PS [dual shock]
4th Wii remote
5th SNES
6th Megadrive
7th X-box [only one that was bad enough to affect my enjoyment, those buttons are painful]

^that was in terms of comfort.
In greatness terms;
1st Wii remote/nunchuck
2nd N64
3rd wavebird*
4th GC
5th dualshock
6th SNES
7th Megadrive
8th x-box

Those lists are based only on ones i have had experience with btw. In comfort terms i think 360 may be high as people seem to praise it [could just be they have no feeling left after using the x-box one] and six-axis would be high in greatness [same as DualS in comfort]

*included with GC in comfort.