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In this paper, a method for approximating a multi-input multi-output (MIMO) transfer function by a causal finite-impulse response (FIR) paraunitary (PU) system in a weighted least-squares sense is presented. Using a complete parameterization of FIR PU systems in terms of Householder-like building blocks, an iterative algorithm is proposed that is greedy in the sense that the observed mean-squared error at each iteration is guaranteed to not increase. For certain design problems in which there is a phase-type ambiguity in the desired response, which is formally defined in the paper, a phase feedback modification is proposed in which the phase of the FIR approximant is fed back to the desired response. With this modification in effect, it is shown that the resulting iterative algorithm not only still remains greedy, but also offers a better magnitude-type fit to the desired response. Simulation results show the usefulness and versatility of the proposed algorithm with respect to the design of principal component filter bank (PCFB)-like filter banks and the FIR PU interpolation problem. Concerning the PCFB design problem, it is shown that as the McMillan degree of the FIR PU approximant increases, the resulting filter bank behaves more and more like the infinite-order PCFB, consistent with intuition. In particular, this PCFB-like behavior is shown in terms of filter response shape, multiresolution, coding gain, noise reduction with zeroth-order Wiener filtering in the subbands, and power minimization for discrete multitone (DMT)-type transmultiplexers.