Recently, visible light communication (VLC) has attracted much attention as a possible candidate technology to meet the ever growing demand in wireless data. However, current low-cost white LED has limited modulation bandwidth, which limits the throughput of the VLC. Optical MIMO can provide spatial diversity and thus achieve high data rate. Traditional multiple-input multiple-output (MIMO) techniques used in wireless communications cannot be directly applied to VLC. This paper studies the precoder and equalizer design of optical wireless MIMO system for VLC. First, we propose a MIMO VLC system, which can effectively support the flickering/dimming control and other VLC-specific requirements. Second, besides the transceiver design with perfect channel state information, we also take into account channel uncertainties for joint optimization in the MIMO VLC system. Numerical results show that the proposed MIMO solution for VLC is robust to combat the influence caused by the channel estimation imperfection. By taking into account the channel estimation errors, the proposed joint optimization method demonstrates the bit error rate (BER) improvements in the scenario of imperfect channel estimation.