Are you one of the people who also hates tip jars at Starbucks?
Seriously though, while we are talking about this subject, I present to you two situations from the same dining chain in two different areas.
Number 1, a customer took me to a Chili's in Taiwan for lunch. I ordered salmon at the time. When I cut into it, it was clearly raw. I told the waiter that it was raw and I wanted it re-cooked, new one, whatever. No apology when he took the salmon to be redone. When it was presented back to me, it was clearly the same piece of salmon (not a big deal), but no attempt at making a presentation (a big deal to me). He extended a half-... apology, didn't offer me anything for compensation, and I was forced to tip him 10% and the full price on the salmon (all waiters/waitresses receive 10%, 10% service charge on each bill).
Number 2, I was out to Chili's in Minnesota with some colleagues. I ordered a steak medium well. When I cut into it, it was bloody red. I told my waitress this and she apologized, took the steak from me to be recooked. When my new steak was presented to me, it was a completely new cut of beef. She apologized again and asked me to cut into my steak, which was correctly cooked. A few minutes later, a manager appeared with the waitress, extending another apology and asking if I would like a comped dessert.
(I don't feel like this is comparing apples and oranges, both times the food I ordered was undercooked, that's the main point)
In situation number 2, I can appreciate all the effort that the waitress and manager were extending in order to improve a poor situation. If they didn't bother making my situation any better, you can bet she wouldn't be getting even 5% out of me for a tip. In number 1, the waiter seemed to not care and it seemed like, oh I don't need to work for a tip, I'll just put my head down and not get yelled at.