The term 'regenerative braking' was not actually new with its recent descriptive usage in the (British) rail industry though? Google "regenerative braking" and you'll find reference to it in descriptions of trolley buses and milk floats, cranes and other machinery; and indeed in descriptions of modern road vehicle hybrid technology.
Although people seem to get into heated
discussions about what (railway vehicle) regenerative braking is, I would put the case that Voyagers still have regenerative braking. Present day (railway) usage seems to expressly use the term 'regeneration' for when the energy is passed back into the supply system, but
IMHO▸ there is no technical problem with describing the Voyager set up as regeneration. The difference in where the produced electrical energy ends up is just a point of detail.
The historic problem in the
DC▸ supply area (hinted at in the earlier mention of Woodhead locos) is that the supply rectifiers were (and I think generally still are) usually one way devices. They could not pass energy back to their supply side. Effectively DC trains regenerate into the third rail only, but because it is a wide area operating with supplies in parallel the energy can be dissipated into other trains that happen to be motoring.
AIUI▸ DC testing has usually taken place in outlying areas, because the problem comes when there are no 'motoring' trains to absorb the power. If the third rail voltage rises too high the energy must then be diverted into onboard resistors.
The AC system is always supplied by transformers, and these are inherently two way devices, and regeneration is straightforward as long as the protection devices can be altered to allow for the two way power flow.
By the way, the Telegraph's brief explanation from that linked article earlier:
"...fault in which their brake resistors, which dissipate energy during braking and turn it back into electricity, etc"
is fundamentally back to front anyway, It should be something more like:
"...fault in which their brake resistors, which dissipate electrical energy generated during braking by turning it into heat, etc"
Paul