Crown prosecutor Harry Mallalieu said Mr Rippon's family's loss was "immeasurable".
Defence lawyer Debbie Goodlet said Madams committed the murder out of "reckless disregard" as opposed to attacking Mr Rippon with an intent to kill him.
"His instructions have always been clear: 'I feel guilty, I am guilty.'"
Before sentencing, Justice Clark told Madams he could have a seat, but he declined.
"I don't deserve to sit, miss," he said.
Many details of the offending have been suppressed to ensure a fair trial for the other five defendants.
Justice Clark said Madams knew the victim well. "You and Mr Rippon - Uncle Rip - were close."
She considered if Madams could attack Mr Rippon in such a way, despite being close to him, "it is reasonable to assume that those who are strangers to you may be at even greater risk.
"Protection of the community features strongly in my mind."
She noted Madams was "extremely remorseful", although pointed to a concern in a report quoting Madams as saying if it has been someone else "It wouldn't be that bad".
However, Justice Clark accepted the explanation Madams meant his own grief wouldn't be so bad. She believed Madams would still have remorse if it had been someone else.
Justice Clark finished the sentencing with an "observation".
She noted Madams himself had had an experience being hit on the head with a weapon, with the difference being that he woke up afterwards.
"How normalised these acts of brutality have become for you and others who have been similarly exposed and similarly offend."
The prison sentence would be beneficial for him, she said.
"You will have the opportunity to embark on what you have been trying to achieve but have found impossible."
Justice Clark said Madams would be able to distance himself from his "dysfunctional life", have a chance to work towards an education, and benefit from monitoring of his safety and mental health.
She sentenced him to life imprisonment with a 12 year non parole period.
