I feel like a more fair system would be to pay waiters fairly for their job, and only tip for better-than-average service, but I find that to be a much harder case to argue since it would require changes at higher levels in most parts of America.

PS: I find it somewhat humorous and ignorance-evidencing that Americans in favor of mandatory tipping still think it's a requirement in states where waiters make $8/hr or more in base wages.