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This paper addresses the problem of adaptive sequential waveform design for system parameter estimation. This problem arises in several applications such as radar, sonar, or tomography. In the proposed technique, the transmit/input signal waveform is optimally determined at each step, based on the measurements in the previous steps. The waveform is determined to minimize the Bayesian Cramér-Rao bound (BCRB) for estimation of the unknown system parameter at each step. The algorithm is tested for spatial transmit waveform design in multiple-input multiple-output radar target angle estimation at very low signal-to-noise ratio. The simulations show that the proposed adaptive waveform design achieves significantly higher rate of performance improvement as a function of the pulse index, compared to identical signal transmission.