In this paper, we propose a new interference alignment (IA) scheme that jointly designs the linear transmitter and receiver for the 2-user MIMO X channel system, using minimum total mean square error criterion, subject to each transmitter power constraint. We show that transmitters and receivers under such criteria could be realized through a joint iterative algorithm. Considering the imperfection of channel state information (CSI), we also extend the minimum mean square error interference alignment schemes for the MIMO X channel with CSI estimation error. A robust iterative algorithm which is insensitve to CSI estimation error is proposed. Simulation results are also provided to demonstrate the proposed algorithm.