Software-defined networks offer flexible and intelligent network operations by splitting a traditional network into a centralized control plane and a programmable data plane. The controller in the control plane is the fundamental element used to manage all operations of the data plane. Hence, the performance and capabilities of the controller itself are essential in achieving optimal performance. Furthermore, the tools used to benchmark their performance must be accurate and useful in measuring different evaluation parameters. There are dozens of controller proposals for general and specialized networks in the literature. However, there is a very limited comprehensive quantitative analysis for them. In this article, we present a comprehensive qualitative comparison of different SDN controllers, along with a quantitative analysis of their performance in different network scenarios. We categorize and classify 34 controllers and present a qualitative comparison. We also present a comparative analysis of controllers for specialized networks such as the Internet of Things, blockchain networks, vehicular networks, and wireless sensor networks. We also discuss in-depth capabilities of benchmarking tools and provide a comparative analysis of their capabilities. This work uses three benchmarking tools to compare 9 controllers and presents a detailed analysis of their performance, along with discussion on performance of specialized network controllers.