Some thoughts:
What does "satisfactory" mean to you, under what specific conditions?
Meaning:
--what specific job (speed, acceleration, power, etc) do you need the system to do for you?
--under what riding conditions?
--with what gearing from motor to wheel?
--in what wheel size?
--and if there are multiple windings of the motor in question, which one are you using?
--and what is the minimum battery voltage the controller you're using?
Those are necessary bits of information to be able to answer your question.
If there is a minimum power level for your worst-case speed/load/riding conditions, then the voltage has to be high enough for the controller, at it's current-capability, to generate that much power.
If there is a minimum worst-case speed, then the voltage has to be high enough to reach that given the motor winding, the gearing, and the wheel size, under whatever riding conditions you have that place however much load on it.
If the controller has a minimum operating voltage, then the voltage has to be higher than that even under worst-case loading conditions on the battery when it is just above empty.
Etc.