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We propose a space-time coding scheme for efficient transmission over multiple-input multiple-output (MIMO) channels without channel state information at the transmitter (CSIT). The proposed scheme involves linear precoding (LP) at the transmitter and iterative linear minimum mean-square error (LMMSE) detection at the receiver. We develop a procedure to jointly optimize the forward-error-control (FEC) coding and LP, taking into consideration of the iterative detection process. Our analysis shows that the proposed scheme can perform close to the outage capacity of MIMO channels.