My first experiences with Madison's were in my mid-20s and revolved around their weekend "club" nights. Deafening music, creepy dudes who grope, and a fight to get to the bar. Not my scene.
A couple years ago, though, we started going for Taco Tuesday and for Packers games, and I found that at any time aside from Friday and Saturday night I really like it.
Taco Tuesday: nothing fancy but it's cheap and will remind you of the stuff your mom made growing up [or, in my case, the taco joint whose name I can't recall that was located where Famous Yeti's Pizza in Stoughton now resides in the mid-90s]. Beef tacos are $1, chicken $2, and fish $3. While I usually prefer chicken, here I go for the beef tacos. My only complaint is that they are excessively greasy, but that also makes them taste wonderful, so whatever. You have your choice of hard or soft shell and it's served with salsa and sour cream on the side. The toppings vary based on your filling - beef gets shredded cheddar, lettuce, and tomato; chicken gets cabbage and something I forget; fish is gross* so I have no clue. [*Pertains to all fish served by anyone anywhere, not Madison's tacos specifically.]
The regular menu is also pretty tasty (the brisket sliders are rich and thus perfect for splitting). For Packers games they usually have some sort of drink and food specials going that are a good deal and usually $5 or less (the one that stands out was pulled pork sliders and tots - more than enough food for so cheap).
Service has always been good minus a couple hiccups with people being trained, but it's just that - they're new people being trained. Mistakes are going to happen, and they're always fixed. Not a big deal.
This isn't currently a weekly stop, but I wouldn't put it out of the realm of possibility if I stay in this neighborhood.