The system we have works the best. i.e. tipping. It ensures the waiters have an incentive to serve you promptly.
Waiters in my state usually earn about $3.00 per hour and the rest are tips. They can get rid of tipping and charge you $18 for that meal that currently cost $10 and you will probably get more crappy service as a result.
People that do not tip are moochers of the rest of the people that do tip as a certain cost of your meal is via tips.
When I was a bartender we always had a little special surprise for stiffs when they showed their face again,and they always did since stiffs are self-absorbed morons.Also I worked at a fancy restaurant on the Jersey Shore that got alot of wealthy patrons and they always took care of the help.The biggest stiffs were always kids or big mouth libs.
I bet in states where the gratuity is mandatory the service really stinks.