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We propose a simple linear precoder for selection-type cooperative multiple-input multiple-output communication systems. After a received symbol vector is detected at destination, the link which has the highest minimum receive substream signal-to-noise-ratio between the source-destination link and the source-relay-destination link is selected as a transmission link. Under the assumption that the full channel state information is available at every node, source and relay precodering scheme, which is suitable for zero-forcing detector, is proposed. Simulation results show that the performance of the proposed relaying technique is comparable to that of the near-optimal linear protocol while offering lower computational complexity.