common configuration is the horizontal primary dual-axis tracker (HPDAT) which has its primary axis horizontal to the ground, and the secondary axis is normal to the primary axis [1]. The main disadvantages of the VPDAT and HPDAT are their susceptibility to wind loads and the deformation or bending generated by the weight of the payloads. A comparison of some solar tracking techniques is detailed in [3]. In recent years, parallel manipulators have been suggested as trackers [4; 5; 6; 7; 8; 9; 10]. Some of the reported advantages are the lack of big gearboxes, greater robustness against disturbances and less deformation generated by gravity and wind loads on the structure. However, because of the complexity in implementation, these mechanisms are not the most used in utility-scale STSs. In [11], the variables that influence the electricity generation in PV system with dual-axis solar tracking are analyzed. Because of technological advances in CSP and CPV systems, the requirements for STS are becoming more demanding, and they need to achieve better performance at a lower cost. The solar tracking accuracy is commonly affected by multiple factors, such as high backlash of the actuators, misalignment in the payloads installation, non-linearity or malfunction of the sun sensors, dynamic wind loads, dependency on constant maintenance, calculation errors in the positioning deviation of the sun position algorithms, payload structure deflection, lack of robustness to disturbances, among others [12]. Therefore, it is necessary to continue researching innovative solar trackers that eliminate or reduce the effects caused by the factors mentioned and are low-cost, autonomous, highly scalable and low maintenance, with long-lasting durability and manufacturing ease. Regarding the control system, in the literature, there are several STS design methods that use control units, such as programmable logic controllers, microcontrollers, Arduino boards, single-board computers like Raspberry Pi, and even personal computers, but these approaches are typically developed as proof of concept or at the laboratory level, see [12]. In [13], an interesting design of a scaled-down prototype of a dual-axis STS with four-quadrant photosensor feedback was proposed, which was driven by an AC motor. The PV payload increased the energy generation up to 28.31% compared with a fixed PV system. The authors in [14] proposed a sensorless dual-axis sun tracker prototype that uses the PV output current and voltage as a solar sensor to estimate the Sun's position. A closed-loop control updated the solar tracker orientation by the maximum power point tracking unit of the PV modules. In similar works, [PERSON]. [15; 16] designed and implemented dual-axis STS prototypes in closed-loop through light-dependent resistors (LDRs). The former used a Wheatstone bridge circuit. The latter directly compared the LDRs signals by an electronic circuit. Experimental results showed an energy generation of 48.2% and 35% higher than that produced by a fixed PV system, respectively, showing that this kind of result enriches and encourages the importance of the STSs for energy generation. In [17], an automated intelligent STS with cloud detection was proposed; under rainy or cloudy conditions, an adaptive control algorithm optimized the position of the solar tracker prototype to increase the energy generation of a PV system. Similarly, the authors in [18] developed a dual-axis STS prototype with an Arduino board that employed a stepper motor and a linear actuator for the azimuth and zenith axes, respectively, but the solar tracking accuracy was not characterized. In the same way, in [19] another dual-axis STS prototype was proposed; the authors built two mobile structures, one for the four-quadrant solar sensor and the other to move the PV payload. They employed an on-off control with hysteresis to achieve system stability during solar tracking. All the STSs mentioned above propose and report interesting results; however, they are prototypes that lack tests in real weather conditions.