I vote Augustus; though there was initially civil war he kept the empire relatively stable during his reign. Though the haphazard attempt at conquering Germania and his panic when Illyria revolted show a bit of mental instability. Having capable people surround him overcame a lot of that though. In his own words he found Rome in bricks and left it in marble.
My biggest gripe against him was not estabilishing a good policy for succesion, a clearly defined hereditary system or some sort of method of appointment would have saved the empire from a lot of woe.
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