Yeah but simplicity is the key, it needs to be simple. If the controls make easy actions difficult then it detracts from the game.
Like with Megaman Zero, only 4 actions. Jump, Weapon 1, Weapon 2 and Dash. With default controls Jump (A) , Weapon 1 (B) and Dash (L) can all be performed with one button, but with weapon 2 it required you to hold down R then press B to peform the action. I found this awkward to use and as a result barely used the weapon 2. I found out 3 missions later that i could change the controls to better suit my style. This made the game a much more enjoyable experience.
The controls are the gateway into the game. Without decent controls the game fails to be enjoyable. All that was needed is someway to change the controls to fit the person.