... the joint design has a better performance than thevarious separate design schemes. Furthermore, the joint source precoder, relay for- warding matrix and destination equalizer design for dual ... transceiver design minimizing MSE, for dual-hop AF MIMO relaysystems with single relay, the optimal closed-form solution for joint optimal for- warding and equalizer matrices assuming perfect CSI ... substantial system performance degradation. Robust transceiver design, which could mitigate such performance degradation by taking the channel estima-tion errors into account, is therefore of great...