In regards to console (not handheld which we all know who the clear winner is) sales and hardware power PS has beaten out Nintendo most of the time, barring last gen. However, as a brand and in regards to the industry even being here in the first place I have to give it too Nintendo. And in the end, I feel that being more recognizable brand all together is what matters more.
Think about it, why can Nintendo consider making sections of an amusement park and it actually make sense? Why can they make a mobile game and people assume it's going to sell well? Because Nintendo is the only one of the Big 3, in my opinion, that actually possesses brand power for their IPs.
Sure some Sony first party IPs sell well and are great, but it seems PS has really made it's name for being a media station that allows you too play key third party releases (such as GTA and COD).