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A single envelope modulator-based envelope tracking (ET) power amplifier (PA) structure with a related digital predistortion (DPD) technique for multiple-input and multiple-output (MIMO) wireless transmitters is presented in this paper. By generating a common tracking envelope, only one envelope modulator is employed for controlling supply voltage of the RF PAs in all branches in the system, which dramatically reduces the system implementation cost. Due to the structure change, additional distortion is introduced, and it is difficult to directly compensate by using the conventional DPD because the tracking envelope is no longer the same as the RF envelope, and thus the MIMO ET PA becomes a two-input and one-output system. To resolve this problem, in this paper we propose a novel DPD technique in which the PA input and output data are reconstructed into multiple data subsets according to variations of the tracking envelope. It converts the 2-to-1 mapping into multiple 1-to-1 ones, where the conventional DPD can be employed again. Experimental results demonstrated that the distortion, including static nonlinearities, memory effects, and additional distortion caused by the structure change can be effectively compensated by using the proposed DPD technique. Compared to the conventional ET, the overall efficiency of the system is only slightly decreased, but the system cost is much lower because only one envelope modulator is required in the whole system.