Linear Interpolation

Hey everyone, I am looking to see if you can help me with an obstacle I've encountered.

I want to create a table or algorithm that can predict the energy use of a device given different variables. (please see attachments)

So at any given Amplitude, I want to be able to predict the energy use given the Rate and Pulse Width.

I think I could do this if there were two variables, but since there's three, I wanted to look for some help.

In the tables, you can see that the energy use (the many data points in the middle) are given for a select set of rates or pulse widths. Please help me use interpolation (or absolutely anything else!!!) that can help me estimate other values.

Thanks a million for your help!