Derbyshire 108 and 272 for 6 (Lace 101*, Madsen 60) lead Worcestershire 113 by 267 runs
Century maker Tom Lace gave another demonstration of his potential as Derbyshire built a position of strength on day two of the Specsavers County Championship with Worcestershire at Kidderminster.
Lace, who is on loan for the season from Middlesex, reached three figures in the final over of the day with a cover drive for four off Daryl Mitchell. It came up from 266 balls and contained 15 fours as Derbyshire closed on 272 for 6, a lead of 267.
The 21-year-old Lace initially spent four games on loan with Derbyshire last season and scored his maiden Championship century - 143 against Glamorgan at Swansea - last month.
Lace returned to the side after not being able to play against his parent club in Derbyshire's last Championship match and on Monday's evidence looks a fine prospect.
Worcestershire bowled with considerable discipline and Derbyshire were made to work hard for their runs. But the pitch had flattened out considerably with the moisture disappearing from the surface after 20 wickets had tumbled on the first day in conditions helpful for seam and swing bowling.
Derbyshire resumed on 19 for 0 and the previous day's trend continued initially with Luis Reece and Billy Godleman falling in successive overs.
Worcestershire captain Joe Leach was the first to strike as Reece was trapped lbw for 20 and then Billy Godleman nicked Dillon Pennington to Riki Wessels at first slip at 46 for 2. But that was the last success enjoyed by Worcestershire before lunch as Madsen and Lace became entrenched.
They were initially cautious in their approach and the half century stand spanned 142 deliveries. The pair extended their third-wicket partnership to 103 in 40 overs during the afternoon session before Madsen, having made 60 off 125 balls with nine fours, miscued Pennington to Brett D'Oliveira at point.
Lace went on to complete his half-century from 141 balls with seven fours out of 167 for 3. But only one more run was added before the home side made another breakthrough.
Leus Du Plooy fell victim to a fine catch by Callum Ferguson at mid off diving forward off D'Oliveira. Derbyshire were then 168 for 4 with the game in the balance but Lace and Hosein ensured there was no major collapse.
Hosein had a let off when he inside-edged Ross Whiteley to the boundary to bring up the 200. He and Lace negotiated the second new ball and added 82 in 31 overs but Ed Barnard broke the partnership when Hosein holed out to Josh Dell at backward point for 33.
The Worcestershire attack induced several edges and false strokes in the final hour and were rewarded when Matt Critchley nicked Barnard to Daryl Mitchell low down at second slip.