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In this paper, we investigate a novel framework on the waveform optimization for multiple-input multiple-output (MIMO) radar systems under assumptions of statistical information of scattering matrices and colored noise. Different from most of traditional designs under total power constraint, in our framework, a general power constraint named as multiple weighted power constraints is provided, which includes total power constraint, per-antenna power constraints as its special cases. In the framework, the transmit and receive correlations of parameter matrix to estimate and the spatial and time correlations of noise matrix are all taken into account. Moreover, the signal-dependent interference is also taken into account, which can be considered as a self-interference noise. Based on the available statistics of scattering matrices and colored noise, two kinds of estimation schemes are proposed in this paper, which can realize different trade-offs between complexity and performance. Finally, some numerical results are given to demonstrate the performance advantages of the proposed radar waveform designs.