For a typical 20amps controller, it's typically actually 22 amps. 36v 10 ah can be a bit on the small side for a 20 amps controller, but it all depends on the quality of the cells used.
Typical cheaper cells found in ebay batteries, or similarly priced bargains, they are rated for 2c but don't like it much. They really prefer 1c. ( for 10 ah, 1c is 10 amps) 14 ah pack with 20 amps controller would be a better setup, if your use will be hard.
What's hard use? Amp spikes when you start up, and long steep hills. So a weaker 10 ah pack may be fine for a ride that's flat, few stops, and you don't weigh 250 pounds or more. Cruising at 20 mph ish, you will be using about 14-16 amps. So it's at least under 2c cruising.
But if you will be riding trails, or even if you ride in the city with stops every block, then you want a better c rate, or a larger pack.
Now take the 14 ah pack. At 1c, it's doing about the rate that will let you cruise at 20-25 mph. So even with the 26 amps controller, you are still better off with the 14 ah pack, if it has the weaker cells.
Lastly, if the 36v 10 ah pack is a very good one, it may have 3c or better cells in it. There are some very stout cells out there now, and a few vendors are using them. In this case, 3c would be 30 amps, and it should be able to take some amp spikes from the 26 amps controller reasonably well. But, it will tolerate the amps even better in a 14 ah size.