I don't think anyone has to love their job or think it's their lifelong dream for the theories of the OP to hold. They may have to not _hate_ their job, not dread going to work.
Very few people are going to want to be a janitor as their lifelong dream. But there are plenty of janitors who take pride in their work, and pleasure in keeping somewhere clean and tidy, and being appreciated for it. Doesn't mean they wouldn't rather be somewhere else much of the time, but as long as they're doing it they find it rewarding to do a good job.
And you know what's going to make it more likely to have that "kind of" person on a janitorial team? Giving them autonomy, trust, responsibility, psychological safety, appreciation and recognition, etc.
And what's going to make it more likely to have janitors who hate their job, take no pride in it, dread going to work every day, try to get away with the bare minimum, etc? Micro-managing, punishing, not giving them autonomy to do the job in the way it makes sense (as they know best as the one doing it), inconsistency, lack of ownership, lack of recognition.
Because it's not a "kind of" person at all. Some people individually wind up in jobs whose duties necessarily have aspects that are intolerable to them personally and ruin their day, and it would be better for everyone if they could find a different job. But if you are managing or working with a group of people who all or mostly seem to be like this... you didn't hire the wrong people, there's something wrong with the environment. (There's something wrong with a very lot of environments).
Or, as OP says:
> When we try to control people, they become less motivated, less inspired, and less innovative; they do the bare minimum work or they just leave.
(And if YOU are in a place where you hate your job, dread going to work everyday, only want to do the bare minimum to escape punishment at it -- please, for your own sake, try to find another! I know that's sometimes easier said than done and you gotta make rent somehow, but if you are in that place it is destroying your soul and sense of self! You know it, you're miserable -- and it does not have to be that way)