PS3 controller hands down. It has lasted for 3 generations of consoles. That's gotta say something. I can't stand the xbox controller, or the Gamecube controller. The Wiimote is good for motion based games, but for classic games, I hate it.
As much as I acknowledge the benefits of the mouse/keyboard combo, I don't really play games on my PC, so I'm way more used to the 360 controller. It is a pretty fabulous controller though.
Mouse and keyboard out of those. But that's cheating because PC controls are too good. My favorite console controls are the 360 and the worst I've seen in gaming is MGS2... even after I got used to them they were awful. There is no reason the camera should be like that in a stealth game.
I think the Playstation ones feel the most comfortable out of those. My next favorite it either the 6 button Genesis controller (since it was smaller) or the SNES one.
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