I'd like to point out that control and vividness play no part in whether you're lucid or not. I've had LDs that I can barely control/see in and normal dreams where it's even more real than waking-reality. All lucidity is, is awareness; knowledge that you're dreaming and that nothing you're experiencing is real.
I don't see how one can have a ''false-lucid''. You're either aware of the fact you're dreaming, or you're not. Even if you're only very slightly aware, you're still lucid. As FancyRat stated, there are different levels to lucidity. It sounds to me like you caught on to the fact you were asleep but didn't properly verify your state of reality and announce that you were dreaming - instead you made the classic mistake and rushed on with your dream goals. By doing this you make the likelihood of yourself waking up and not completing your goal more probable than if you take 5 minutes to really ground yourself into your surroundings.
Stabilising yourself is fairly simple when you have the right frame of mind and understand why and how you're doing it. Dreams are purely internal senses. How does one stay in the dream longer? By focusing on those internal senses. I've found methods which utilise pain are very beneficial for getting in touch with the physical sense, as you're forced to concentrate on how it feels - the perfect gateway into solidifying your presence in the dream. With the whole ''rubbing hands together'' thing, my guess is you were just doing it because you were told to. Next time you try it, really focus on what you're doing. Notice how your hands look and feel - truly notice this. The more in-touch you are with the dream, the more likely you are to stay in it, as you forget about the physical world.
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