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We consider transmit beamforming algorithms for single-carrier frequency-division multiple access (SC-FDMA) transmission over frequency-selective multiple-input multiple-output (MIMO) channels. The beamforming filters are designed for optimum performance of MIMO minimum mean-squared error decision-feedback equalization (MMSE-DFE). It turns out that eigenbeamforming diagonalizing the overall channel is optimum, and in addition an optimum power allocation has to be performed which is similar in spirit to classical results for the optimum continuous-time transmit filter for linear modulation formats obtained by Yang and Roy. Simulation results indicate that the proposed solution is beneficial for the block error rate performance of an SC-FDMA transmission scheme with strong channel coding and error-free decisions in the feedback path of MMSE-DFE, which can be guaranteed e.g. by equivalent Tomlinson-Harashima precoding at the transmitter side.