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In this paper, we consider a dual-hop multiple-input-multiple-output (MIMO) wireless relay network in the presence of imperfect channel state information (CSI), in which a source-destination pair, both equipped with multiple antennas, communicates through a large number of half-duplex amplify-and-forward (AF) relay terminals. We investigate the performance of three linear beamforming schemes when the CSI of the relay-to-destination ( ℜ-D ) link is not perfect at the relay nodes. The three efficient linear beamforming schemes are based on the matched-filter (MF), zero-forcing (ZF) precoding, and regularized ZF (RZF) precoding techniques, which utilize the CSI of both the S-ℜ channel and the ℜ- D channel at the relay nodes. By modeling the ℜ-D CSI error at the relay nodes as independent complex Gaussian random variables, we derive the ergodic capacities of the three beamformers in terms of instantaneous signal-to-noise ratio. Using the Law of Large Number, we obtain the asymptotic capacities, upon which the optimized MF-RZF is derived. Simulation results show that the asymptotic capacities match the respective ergodic capacities very well. Analysis and simulation results demonstrate that the optimized MF-RZF outperforms MF and MF-ZF for any power of the ℜ-D CSI error.