Probably PS1, before they got heavier, weirder, and shorter, with all that analog / rumble / pressure nonsense. Just super-duper Super Nintendo controllers with enormous wings.
Least favorite has to be either OG Xbox controller, because the d-pads were fucking miserable.
Bear in mind I'm the kind of mutant who still cannot handle twin-stick controls in an FPS, despite decades of competitive KB/M use. If I'm using a stick to move forward, and I tilt it to the left, I expect my character to turn left.