Device, methods and systems for precoding in wireless systems using orthogonal time frequency space multiplexing are described. An exemplary method for transmitting wireless signals includes mapping data to generate a quadrature amplitude modulation (QAM) signal in a delay Doppler domain, determining a perturbation signal to minimize expected interference and noise, perturbing the QAM signal with the perturbation signal, thereby producing a perturbed signal, generating a pre-coded signal by pre-coding, using a linear pre-coder, the perturbed signal, and transmitting the pre-coded signal using an orthogonal time frequency space modulation signal scheme.