Suggestion:

I consider tipping to be a part of the expense of dining - bad service bothers me, but not tipping also bothers me, as I don't feel like I've paid for my meal.

So I've come up with a compromise with myself, which I think will be helpful for anybody else in the same boat:

If I get bad service, I won't tip (or tip less, depending on how bad the service is). But I -will- set aside what I -would- have tipped, which will be added to the tip the next time I receive good service.

Double bonus: When I get bad service at very nice restaurants, the waiter at the Steak and Shake I more regularly eat at (it's my favored place to eat) is going to get an absurdly large tip, which amuses me to no end.