To tip or not to tip...

Don't you hate it when your bill arrives and it has the discretionary service included though you received none? I do.

I have actually worked in restaurants, a long time ago, in the kitchen, behind the bar and on the floor, so I know how important tips are for the individuals and for the industry as a whole. BUT. I'd always stood and I stand to this day by the fact that the tip was coined, pardon the pun, as a reward for a behaviour considered extra ordinary for the normal sense of duty of that environment; and receiving it was quite uplifting and indeed rewarding beyond the monetary value of the tip itself.
What I don't understand is when something goes wrong, you highlight it, it is recognised, but then the bill still includes the service change as if nothing ever was. And I must admit I generally feel too proud, unless something completely unacceptable has happened, to ask for the discretion to be removed from my bill. Maybe that is a British thing, but haven't we all become completely complacent, both the service providers and the service recipients, to react to such events? Or too busy, or too involved, or too lazy? Which is it?
I personally am a big fan of the tip, and of incentives in general; I leave a tip to everybody, the taxi driver, at the restaurant, at the café, at the hotel. Incentives are what makes our working life that little bit more exciting, varied, unpredictable and, because of that, a little bit more interesting; but then are we being unwillingly and unknowingly disrespectful and inconsiderate to the institution that the tip has become and to those who deservedly earn it, when we as society complacently ignore the discretionary service change?

Thanks for reading,
LaT