Hi, I'd like to help you with your question.
It sounds like from what you said that you might be dealing with at least two different problems here. One I believe is depression, for which you stated you are already taking medication. And two may be a personality disorder. This is a secondary diagnosis that affects how you relate to others and your interactions with them.
You mentioned that you saw a counselor that you felt was useless. Is there a chance you would consider finding and seeing another therapist? Therapists are much like regular doctors, you often need to see a few before you can find one you feel would be able to help you.
Why I recommend another therapist is that you would benefit from a full evaluation to find out what type of depression you have and if you do indeed have a personality disorder diagnosis. Finding out what you have is again much like going to a regular doctor, they cannot treat you if they do not know what you have.
When someone attempts to control others, it can be from either anger issues or anxiety issues. Depending on your background, childhood issues and other factors, either one could be the reason behind how you feel and interact with others. Not feeling loved is probably also a part of your history.
You can work on these issues and be able to redirect your behavior to healthier ways of coping. You have already taken the first step by asking for help. Also, you seem to have good insight into your issues and a willingness to address them. These are good indicators that you can get better.
I'd like to recommend some books that may help you. One is called Getting Your Life Back: The Complete Guide to Recovery from Depression by Jesse Wright and Monica Ramirez Basco. Another is Why Can't You Read My Mind? Overcoming the 9 Toxic Thought Patterns that Get in the Way of a Loving Relationship by Jeffrey Bernstein and Susan Magee. These can be found on Amazon.com or your local library may have them available.
I hope this has helped you,