servants could have their wages docked if they had done something unsatisfactory, like breaking something for interests. Some employers were more severe than others. And in a large household, the housekeepr and the butler might impose a penalty on a junior servants who broke something, or did their work badly or something.
However, whipping servants would not be usual practice in the 1800s, though it certainly did occur in earlier centuries, when servants tended to be regarded more as junior members of the family (they were usually young) and employers were considered to have the authority of parents over them.
by the 1800s, though, relations between employers and their servants tended to be more formal and less close than in previous centuries.
Servants were not usually starved, though they didn't always get very good food. Again, some employers were more generous than others.