All of Nintendo handheld were inferior to Sony handheld but they still won the war. It's not about graphics because Nintendo don't care about being cool. They care about fun. Nintendo is all about having fun.
PSP was pretty good in my opinion, lots of good games, PS Vita was okay but I feel it could've been better, Wii U was good but they could've put more effort into using it's functions more, Nintendo Switch is practically perfect apart from a few problems, but it has a lot of potential.
I don't think Sony ever got the "feel" right on their controls, specifically the analog stick. For me at least, was always the component that seemed to hold me up from sinking much time into anything on my psp's (I tried various versions in hope they'd get it, just never felt right to me always wanted to like it as the library contained some stuff I'd have loved to play)