Well, I linked to those sites because there are various types of operating systems listed. This is why I couldn't give you a one sentence answer. If you're talking about an operating system similar to what at the basic level would have been like DOS, then it would be Unix. Of course, others wold argue that it's
MULTICS since Unix was an offshoot of MULTICS.
It really depends what kind of operating system you mean. Even the term "computers" in your sentence is rather vague when referring to computers and operating systems as a whole in their history. Heck, switches and levers on old analog computers could be considered "operating systems" since you can move them to operate the system to get the desired result. They also mention real-time operating systems that were used in military computing devices. Sometimes humans were considered the "operating system" for a computer in the 50s like ENIAC and UNIVAC since humans had to punch in the information.
As for software that did all of this (which would probably make up what an OS is today to everyone), it would probably be the OS/360 from IBM which was an OS for mainframe systems.
http://en.wikipedia.org/wiki/OS/360
Beyond that, there's not much to tell. As for GUI operating systems, the first computer to have a GUI was the Xerox ALTO from Xerox PARC. A visit from Steve Jobs and comany to the Xerox PARC facility is what inspired the Macintosh (along with predecessors like the Lisa, Lisa 2, and Mac/XL). The rest, as they say, is history.