Despite not being totally remade into a Cyberman,Lytton had courage saving the Doctor from being harmed by the Cyber Controller at the cost of his own life,though the Doctor didn‘t give him a chance to explain that he was helping the original inhabitants of the planet that the Cybermen adopted as their new home. The Doctor did manage to destroy the Cyber Controller,which he failed to do 4 regenerations earlier.
For those of you making fun of the fact that the Cyber Controller says "emotion is a weakness" then screams in pain a few seconds later, consider this:
It has been shown that inhibiting emotions does not stop a Cyberman from feeling pain, per say, it merely stops them from reacting to that pain. Big Finish is especially great at emphasizing this in certain scenarios (i.e: Spare Parts and Bernice Summerfield: Blood and Steel, Willkommen). In short, they are always in pain, but are incapable of reacting to that pain due to their emotional inhibitors. It has also been demonstrated in other Big Finish productions such as the aforementioned ones and others like Hour of the Cybermen and the Cybermen series (Heck, even this clip shows it), that in the classic series, emotional inhibiting was completed not from a simple chip that could be switched on and off like the Cybus Cybermen, but through a drug that the Cybermen inject into their victims, which enhances their strength, generates more natural pain killer in order to grant them a greater resistance to pain (although not able to completely diminish the excruciating pain they feel daily), and finally inhibit their emotions (its primary purpose). This drug runs throughout a Cyberman's body, but when that drug starts to get drained from that body (by say, a sonic lance), so does the effects of that drug.
In that moment of the Cyber-drug leaking from the Controller's body, all his past memories, all his current pain, and all his past memories start flooding back to him like a tsunami. He has witnessed the terror and evil he has committed towards others, but has been incapable responding to it. He has felt the blades from the conversion chamber and remembered when they pierced his flesh, as well as remembers the pain from the electrocution and beating Toberman gave him in Tomb of the Cybermen, but could never react. His memories of a past life, possible a good one, have been all but suppressed until fluid starts to drain. All that sorrow, all that pain, all that grief, all that rage.... it is flooding through his mind like a poison, like a wild-fire. Burning away as he can now finally feel all the pain and sorrow that has been inflicted on him.
So whenever you watch this clip again and see the Cyber Controller scream, and feel like laughing at him or saying "that doesn't fit with the Cybermen", just stop and think: What else would you expect him to do?