## 1 Introduction  
The use of renewable energy resources has grown as a result of the concerns about CO\({}_{2}\) emissions, dependence on fossil fuels, as well as climate change. Solar energy is a clean and practically infinite renewable resource, which could satisfy the global energy demand with only a small fraction of the solar radiation that reaches the surface of the Earth. Therefore, the development of new efficient ways to use solar energy at accessible costs is both a great scientific and technological opportunity [1]. In high-concentration solar plants, it is necessary to have control systems that help to reduce losses in the concentration of solar radiation and to avoid damage to the operators and the facilities. In order to collect solar energy, it is necessary to know the position of the sun throughout the day. This can be achieved by using a solar tracker, which combines a mechanical structure with electronic feedback devices. Solar trackers are divided into single-axis or two-axis trackers. In single-axis solar trackers, the tracking system drives the rotation axis until the normal component of the mechanical structure and the solar vector are coplanar, whereas the double-axis solar trackers follow the sun in the horizontal and the vertical plane [2]. The solar tracking systems are also divided into three classifications: the sensor driver systems (SDS), which determine the position of the sun using solar sensors, the microprocessor driver systems (MDS), which use an algorithm to determine the position of the sun using a microcontroller, and the combination of the first two methods [3]. Dual-axis SDS sun trackers have been designed in order to drive photovoltaic (PV) systems. [PERSON] et al. [4] developed a dual-axis tracking system without using a microcontroller, producing more than 27% electric energy than a fixed system. [PERSON] [5] and [PERSON] et al. [6] implemented a dual-axis sun tracker on an 8051 MCU, using light dependent resistors (LDR) to sense the position of the sun and two stepper motors to orient a PV panel. [PERSON] et al. [7] designed a solar tracking system based on Arduino UNO with a Bluetooth radio module to get a real-time measurement of the output voltage of the solar panel on a mobile app. [PERSON] et al. [8] used an ATMega328 microcontroller, four LDRs, and two servo motors to build a sun tracker on a PV, increasing the output voltage 37% against a fixed PV. [PERSON] et al. [9] developed a dual-axis solar tracker using a robotic sensor, allowing to reduce the energy consumption of the tracking system as well as adding multiple tracking systems using the same sensor. Other works implemented MDS sun trackers. [PERSON] et al. [10] applied a dual-axis solar tracker based on an MCU, using a real-time clock (RTC) to obtain the time of the day and to determine the angle of movement of two stepper motors. [PERSON] et al. [11] developed an open-loop sun tracker controlled by a microprocessor AT89S52, using a GPS and an RTC to determine the geographical position coordinates (latitude and longitude) and the current date and time to obtain the sun position. [PERSON] et al. [12] built a master-slave dual-axis solar tracking system using two slave microcontrollers to control the position of both axes, which are governed by a master microcontroller, obtaining an accuracy of 0.5\({}^{\circ}\) in the sun tracker with a maximum energy gain of 26.9% better than the fixed-tilted PV panel. [PERSON] and [PERSON] [13] implemented an MDS sun tracker to orient a solar dish concentrator, calculating the sun position using an RTC and a solar position equation, thus obtaining 75% more average thermal energy compared to a fixed solar tracking system. In central receiver systems, there are two-axis solar tracking reflectors called heliostats that concentrate the sunlight on a receiver located on top of a tower. Every heliostat uses a local control that guides the heliostat into the desired position by using two electric motors connected to reduction gears.