Fort Madison is a town in south eastern Iowa, located on the western banks of the Mississippi River across from Illinois.  It has a historic business district and a decently preserved housing stock.  While Fort Madison is in a very rural region of the Midwest, it has a nice urban feel once you are in the business district.  Everything is very walkable, with parks throughout the street grid.  There is a historic fort along the Mississippi River that is great for the kids.  You can view the gallery here.