I. Introduction
Traditional wireless technologies, such as orthogonal frequency-division multiplexing (OFDM), typically struggle to cope with high Doppler shifts in high-mobility scenarios. In order to overcome this limitation, orthogonal time frequency space (OTFS) modulation [1] was proposed, which modulates data symbols in the delay-Doppler (DD) domain and allows a sparse and quasi-static channel representation. Several studies [2], [3], [4] considered the OFDM-based OTFS (OFDM-OTFS) architecture, where a cyclic prefix (CP) is inserted in each frame, while employing an ideal rectangular pulse shaping filter that satisfies bi-orthogonality in the time and frequency domains [1]. By contrast, the input-output relationship of OTFS using a non-rectangular pulse shaping filter was derived in [5].