Emilio Gay makes an unbeaten 89 as Northants build a lead of 255 against Derbyshire.
Whiteley scored 54 in his first Championship match for nearly three years and dominated a last-wicket stand of 58 with Daryn Dupavillon to carry his team to 362 after Ben Sanderson took 5-76.
Lamb was very fortunate not to be run out in the next over but made the most of that escape by sharing a stand of 82 with Madsen, who swung Rob Keogh for six on his way to a 118-ball 50. Madsen was bowled trying to swing Kaul over mid-on and when Sanderson had Zak Chappell and Blair Tickner taken at second slip, Derbyshire looked like conceding a substantial lead.
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