In this article, the authors consider joint design of a linear precoder and power allocation for uplink multiuser multiple input multiple output (MIMO) communication systems with limited feedback to improve the bit error rate (BER) performance for all users. Precoder selection from the codebook set is directly based on the exact BER performance, instead of other suboptimal criteria, to achieve the optimal precoder matrix, but closed-form expressions may not exist in the view of power allocation based directly on the BER criterion. From this perspective, the authors propose the joint transmitter optimization algorithm for the consideration ofprecoder design, with total power constraint for asymptotic MBER (AMBER) criterion. In this AMBER criterion, a closed-form solution has been derived for power allocation with an optimal precoder. The simulation results show that the proposed joint design algorithm can achieve a much better performance than precoding with uniform power allocation and only consideration of power allocation.