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In view of the nonideality of communication links in the Internet of Things (IoT) originating from transceiver hardware impairments, in this article, we introduce a general framework for hardware impairments-aware multiantenna transceiver design, which considers different availabilities of CSI at the transmitter (CSIT) and the receiver (CSIR). The well-known Kronecker model is applied to characterize stochastic channel state information (CSI) errors. For each case, we aim to minimize the (average) total mean square error (MSE) of all data streams subject to the practical per-antenna power constraints. To address the nonconvexity of the formulated problem, we propose an efficient majorization–minimization (MM)-based iterative algorithm to transform the original problem into a series of convex subproblems with semiclosed-form optimal solutions. For low-complexity implementation, we also develop an alternative …