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An iterative joint finite-impulse response (FIR) zero-forcing (ZF) precoder-equalizer optimization algorithm for multiple-input multiple-output intersymbol interference (MIMO-ISI) channel is proposed. The existing joint precoder-equalizer design algorithms for MIMO-ISI channels require a guard period, which is longer than or equal to the channel order to avoid the interblock interference (IBI). This longer guard period is a kind of unnecessary redundancy consuming the valuable channel bandwidth. Based on space-time-modulated codes (STMC), this paper proposes the first algorithm for jointly optimizing the FIR precoder and equalizer without the guard-period constraint. Hence, the precoder-equalizer pairs obtained can achieve minimal transmit redundancy ISI-free communications for complex-valued signals. This greatly enhances the spectral efficiency for wide-band communications. The proposed algorithm is performed in an iterative basis. Sufficient conditions and convergence analysis of this algorithm are presented. The resultant precoder and equalizer are proved to be a least-square (LS) optimal solution for each other. The simulation results show that substantial performance gain is obtained with the proposed joint optimization algorithm.