But as on the first day, wickets fell after an interval with Guest another victim of a legside strangle for 19 before Balderson got the big wicket of Madsen.
The Derbyshire captain was beaten by a ball that cut back to trap him in front and Lancashire should have removed Andersson in the next over.
Anderson was the frustrated bowler, seeing an edge fly to second slip where Jennings could not hold on.
It proved an expensive drop as Andersson played positively, reaching his 50 with his eighth four, a cover drive off Chris Green, but Lancashire plugged away in the sauna-like heat to chip away at the lower order.
Anuj Dal became the third batsmen to fall offering no shot, for 21, and after Andersson was dropped in the gully on 57, Zak Chappell (21) was run out in a mix-up
Ben Aitchison lasted only three balls for a duck and after Andersson was caught behind cutting at Green, Blair Tickner swung Balderson for a big six before Hurst took his fifth catch to have last man Jack Morley caught behind without scoring.
Luke Wells and Jennings drove home Lancashire’s advantage and although Dal straightened one to bowl Wells, Jennings followed his first innings century with an unbeaten half-century to put his side on course for a substantial lead.
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