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Personally I am currently using an Xbox 360 controller with a wireless PC receiver, mainly because I already had it and it maps to all buttons of the virtual RetroArch controller. The D-Pad on this controller is very wonky though and if you plan to stick to older systems that don’t rely on analog sticks I would go for an SNES controller (I plan to purchase one soon).
You can either use an original and connect it via a USB converter or the breakout board that is part of the RetroPie project or buy a 3rd party SNES controller with USB built in. These tend to vary in quality though, search the forum for peoples suggestions. I hear the iBuffalos should be a good option.