While I don't downplay your experience; do you know of research that talks about it? The idea that people need incentives is an old one - Bill Clinton's welfare reform talked about 'a hand up, not a hand out', etc. I also remember research, though I don't know how current, that most people in welfare programs are there temporarily - they are in and out, not there on a long-term basis.
What about people who aren't going to make it on their own? Do we just let them die? A similar problem is people addicted to drugs: There is no reliable solution; rehab only works for some, not always permanently, and forcing people into it is almost certain failure (besides being a serious violation of their freedom).
There is research and experience saying 'housing first' - providing housing, which provides stability and much better access to services - helps significantly, but that may be focused on people lacking shelter.
P.S. I hope you drop the whining about downvoting. It's against guidelines and is tactical victimhood.