We consider a bidirectional in-band full-duplex (FD) multiple-input multiple-output (MIMO) system subject to imperfect channel state information (CSI), hardware distortion, and limited analog cancellation capability as well as the selfinterference (SI) power requirement at the receiver analog domain so as to avoid the saturation of low noise amplifier (LNA). A novel minimum mean square error (MMSE)-based joint design of digital precoder and combiner for SI cancellation is offered, which combines the well-known gradient projection method and non-monotonicity considered in recent machine-learning literature in order to tackle the non-convexity of the optimization problem formulated in this article. Simulation results illustrate the effectiveness of the proposed SI cancellation algorithm.