Look up against two columns and maybe 1 row

I have various jet engine stages (ES) that vibrate at various modes (M) to varying degrees at different positions (P1, P2, P3). In another sheet I have varying ES's, M's and positions in cells, how can I then look up the correct degree of vibration? e.g. for engine stage 1 for vibration mode 2 at position 2, I want to be able to look up the answer 81 automatically. Thanks.

ES M P1 P2 P3
0 1 678 890 890
0 2 67 980 88
0 3 6 89 90
1 1 789 9 90
1 2 8 81 78
2 1 7 9 788
2 2 78 90 906
2 3 7 88 78
2 4 89 9 890
3 1 21 32 33


Sorry if the columns are not clear.
ES goes 0,0,0,1,1,2,2....
M goes 1,2,3,1,2,1,2....
P1 goes 678,67,6,789...
and so on