## 1 Introduction  
There is no doubt about the important role that energy plays in our societies. Its implications go beyond mere technical aspects. Social structuring, economic development, and the environment, among others, are aspects that make up the complex implication of energy in the global agenda [1]. In this context, renewable energies have been experiencing sustained growth in recent years. Thus, the International Energy Agency (IEA) foresees a record increase of 218 GW in the year 2021 in the net capacity of renewable electricity installed in the world, in an average scenario, that could reach up to 266 GW, in an accelerated scenario [2]. In fact, during the first quarter of 2020, renewable energies were the only source of electricity whose demand increased despite the 2.5% decrease in global electricity demand caused by the blockades implemented by different governments to curb the spread of COVID-19 [3]. Within the field of renewables, solar energy, in general, and photovoltaic (PV), in particular, are candidates to satisfy a large part of the global energy demand in the coming years due to their abundance and competitiveness [4]. In fact, in the IEA predictions for the year 2021, solar PV accounts for 54% of the growth in the world's installed net renewable electricity capacity [2]. The remarkable progress that the technology associated with the implementation of photovoltaic energy has been experiencing has not only driven its boom in recent years [5; 6] but this growth is expected to accelerate during the 2023-25 period [2]. One of the fundamental factors in the energy production of PV plants is the incident solar irradiance on the collectors. Among the various strategies that exist to increase this irradiance in solar collectors and, therefore, energy production in PV plants, is solar tracking, which is a technological niche in which there are still possible improvements that can contribute to such an increase [5]. This strategy is in contrast with fixed panel structures that have a constant orientation towards the sun depending on the latitude of the place where the PV installation is located. Thus, in the case of solar trackers, the PV modules move while looking for an orientation that generates more energy, either by capturing solar energy for as long as possible [7] or by capturing maximum solar irradiance [8; 9]. The most common classification of trackers is established based on the number of axes used to move the modules. Thus, we speak of tracking systems on one axis (movement in azimuth or elevation) or on two axes (movement in azimuth and elevation). Improving the technology of solar tracking systems is an important objective considering the high demand of energy resources, being the research niche for many authors. For example, in [7], different tracker motion control systems are studied with regard to their economic evaluation. In [8], the different solar trackers are studied in depth, performing a comparison between them in terms of efficiency, performance, advantages, and disadvantages, while other studies perform an in-depth review of the related literature to define the advantages of the applicability of solar tracking [10; 11]. In the scientific literature, there are studies that question the use of trackers with one or two axes versus fixed systems or one axis versus two. Specifically, various studies are being developed that question the various possibilities that arise in terms of efficiency, cost, location, production, etc., which is a real scientific challenge. For example, in [12; 13; 14], authors analyze the effect of different solar trackers strategies considering the location. Other authors provide profits of the tracking photovoltaic systems in comparison with fixed photovoltaic systems [15; 16]. An interesting result is the one presented in [17], where a method for optimal storage capacity was calculated under the power-curtailment and storage/discharge requirements.