function [cedrat] = initializeCedratPiezo()
  %% Stewart Object
  cedrat = struct();
  cedrat.k = 10e7; % Linear Stiffness of each "blade" [N/m]
  cedrat.ka = 10e7; % Linear Stiffness of the stack [N/m]

  cedrat.c = 0.1*sqrt(1*cedrat.k); % [N/(m/s)]
  cedrat.ca = 0.1*sqrt(1*cedrat.ka); % [N/(m/s)]

  cedrat.L = 80; % Total Width of the Actuator[mm]
  cedrat.H = 45; % Total Height of the Actuator [mm]
  cedrat.L2 = sqrt((cedrat.L/2)^2 + (cedrat.H/2)^2); % Length of the elipsoidal sections [mm]
  cedrat.alpha = 180/pi*atan2(cedrat.L/2, cedrat.H/2); % [deg]

  %% Save
  save('./mat/stages.mat', 'cedrat', '-append');
end