Can Sonic Ever Do 3D as Successfully as Mario Has?

Sonic: The Lost World has released to mixed critical reviews. Every time a new Sonic game hits the shelves it begs a comparison to its long time arch-rival Mario, who has seen massive critical and commercial success since making the leap to 3D. What do they keep getting wrong? Why does every 3D Mario game feel like one of the best gaming experiences ever, and the Sonic entries feel like some of the worst?