I. Introduction
Training-signal design for channel estimation is a well-studied problem for single-input single-output (SISO) single-carrier systems, but a relatively new one for multiple-input multiple-output (MIMO) systems [1]–[9]. To the best of our knowledge, all existing training-signal designs for channel estimation assume no frequency offset and phase noise (PN). In practice, frequency offset and PN are unavoidable due to nonideal oscillators. They cause a loss of orthogonality among the subcarriers which, in turn, seriously degrades the performance of orthogonal frequency-division multiplexing (OFDM) systems [10], [11]. Hence, frequency offset and PN estimation and compensation techniques are typically applied at the receiver. However, in practice, there will still be a nonzero residual frequency offset. In addition, PN compensation techniques (e.g., [12]) require channel estimates, and hence, obtaining robust channel estimates in the presence of PN is important. It is unclear how the existing optimal training signals behave in the presence of (residual) frequency offset and PN.