This paper studies the coexistence between a downlink multiuser massive multi-input-multi-output (MIMO) communication system and MIMO radar. The performance of the massive MIMO system with maximum ratio ($\MR$), zero-forcing ($\ZF$), and protective $\ZF$ ($\PZF$) precoding designs is characterized in terms of spectral efficiency (SE) and by taking the channel estimation errors and power control into account. The idea of $\PZF$ precoding relies on the projection of the information-bearing signal onto the null space of the radar channel to protect the radar against communication signals. We further derive closed-form expressions for the detection probability of the radar system for the considered precoding designs. By leveraging the closed-form expressions for the SE and detection probability, we formulate a power control problem at the radar and base station (BS) to maximize the detection probability while satisfying the per-user SE requirements. This optimization problem can be efficiently tackled via the bisection method by solving a linear feasibility problem. Our analysis and simulations show that the $\PZF$ design has the highest detection probability performance among all designs, with intermediate SE performance compared to the other two designs. Moreover, by optimally selecting the power control coefficients at the BS and radar, the detection probability improves significantly.

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