To my knowledge it hasn't ever happened, but this has a lot to do with both market size and where interest lie. Like I always find it funny when people nail the Wii U for being a slightly more powerful 360 / PS3 or nail the XB1 for being weaker than the PS4 (though we will see if this even comes into play...), yet sales have historically shown that people don't really care about specs.
This can be seen as early as the GameBoy in black and white beating the full color, rechargeable battery (it was an optional add on), back lit super brick known as the GameGear. If I recall correctly the GB was like $50, where as the GameGear was like $250, so it just got killed in sales. Years later, the Vita is far more powerful than the 3DS (This isn't even up for debate), but the mere $50 - $90 dollar (lets not debate about memory cards in this figure) difference in price was more than enough to make people turn away from it.
This isn't to say the Xbox One can't pull it off, but at the same time I don't think the Wii U (aka the cheapest) will be the sales machine the Wii was in the slightest either.
Well it's possible they might withhold stock to make the PS4 seem more popular than it "actually" is. Sort of like how we knew the Wii U was doing bad when every place still had stock on release, week later, on Xmas, etc.