have you looked into parameters? https://discourse.acados.org/t/how-to-set-weights-of-costs-according-to-the-time-interval-in-mpc-prediction-horizon/1001/3 Does this match your problem?
have you looked into parameters? https://discourse.acados.org/t/how-to-set-weights-of-costs-according-to-the-time-interval-in-mpc-prediction-horizon/1001/3 Does this match your problem?