Consensus methods are voting models and PoW and PoS are just the methods used to decide who gets to vote.
PoW says anyone who is able to produce a block with a hash containing a certain number of leading 0's gets to vote.
PoS says anyone who has locked up a certain amount of stake gets a random chance to vote.
They are just ways to limit the number of voters so people can't just set up thousands of virtual nodes to overload the vote. They are sybil protection methods.
The rewards and penalties are just further incentives to keep the voters aligned with the underlying protocol and to not do things like double vote or post empty blocks. Ethereum's PoS slashes users who double vote. With PoW it costs electricity to even vote so it's difficult to double vote in the first place.