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This paper investigates, under the zero-forcing (ZF) condition, the design of optimal precoders which minimize the bit error rate (BER) for the multiple-input/multiple-output (MIMO) downlink communication channels. It is shown that the optimal full information control can be employed to design the optimal ZF precoder. The closed-form solutions are derived, and an efficient design algorithm is proposed. Numerical simulations are provided to illustrate the proposed design technique and to demonstrate the performance of the optimal precoders.