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I just did a poll on this very same question.
At 1st it was the DS2. But as of the DS4's release, the DS4 is now my all time favorite.
- The L2 + R2 are now caved, much better that the DS3 & DS2.
- The inclusion of the Speaker, headphone jack, Share Button, Touch pad are all great, but it when you play a game that uses them all in perfect form that you see the true potential of the DS4.

inFamous SS did it perfectly.
The sound of you adsorbing your powers coming through the controller speaker, how you press into the touch pad to absorb the powers, how when you swipe to open doors, lift canisters, the way your cell phone rings through the speakers, it all just feels well done.