Pip tribunal

Hello, I've done a mandatory letter with help from the guides here. I have done the appeal form with cab help, and I'm waiting for a date for the tribunal. I've had the copy that DWP have sent to the courts. There are still statements that show they haven't understood my problems. I think some of that could be their fault for not reading my answers properly, but also I'm not very good at explaining things. I haven't asked for a representative at the tribunal, but I am thinking I should, maybe from welfare rights. Do you think this would help me or not?