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The best, easily.

Even when ignoring the history, the NES controller is still a pretty comfortable controller of timeless design, the SNES controller is pretty much the father of all modern controllers and has everything for basic gaming needs. The N64 controller remains my personal favorite due it's comfort and ease of use, every button is in the perfect place. The Wii's controller is actually pretty similar, when you use the Remote/Nunchuck set-up at least, this thing gives the greatest freedom of use, it's amazingly versatile. GameCube's was a bit more basic and therefore probably my least favorite, but is nevertheless very comfortable and has a well thought ou button placement. WiiU's Gamepad is very good so far, the touchscreen and it's functions turn out to be very useful.