For me, easily the DS - and I didn't even care much for the Zelda games for it.
To me, the PS2 had a lot of pretty good games but only one exceptional game, RE4, which I prefer on the Gamecube. Other good games that were on PS2 (Splinter Cell, Viewtiful Joe, etc) I also prefer on other consoles.
Regarding exclusives, I did really like the GOWs and MGS3 Subsistence, though. And I've never played much of SotC.