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The only thing you could do "wrong" is letting the Lord rout, which I think guarantees his escape.
In any other case, it's just randomness in action.
Ahhhhh, if you don't mind modding your game, use TweakMB, you can change lords' escape rate. Just note that it also changes the lords' escape rate for being defeated by AI lords. If you change that to 0, you will see nations vaporize like flies because they will have no army at all after one major defeat.
Swadian and Rhodock Lords are usualy on horses they mostly use shorted military scythe and have armor with their heraidic on it.
Nord lords are mostly on foot, use heavy two handed axes and have very similar armor to the other nord inf.
Veargir lords are usualy on horses, wear veargir elite armor and use shorted military scythe.
Khergit lords are on horses wear mostly same armor as their cav except khan (their king) he have yellow armor which you can spot very easily and they mostly twohanded sabre.
They are all usually far better equiped than their men. Look for the fanciest helmet. ;)
Also in the heat of combat they will more than usually be the douchebag that doesn't go down despite being surrounded by 20+ people.
http://steamcommunity.com/sharedfiles/filedetails/?id=695914052