Robert Baratheon

Despite his flaws, to be sure, he had plenty and they were all on display, he knew his strengths and played to them. He knew how to fight and fantasized about becoming the 'Sellsword King' across the Narrow Sea. He knew he couldn't rule and left that to Lord Arryn who could. He knew he wasn't a good father and left raising his children to others. His cabinet choices also helped usher in a peaceful and prosperous summer. Too bad we don't have a book of him during his reign.