Disclosed is a multiple-input multiple-output (MIMO) system including a transmitting end and a receiving end, wherein the transmitting end includes: a hierarchical codebook in which at least one base codebook is designated as the upper matrix and a child codebook generated based on a chordal distance between respective codewords configuring the base codebook is designated as the lower matrix; a scheduler configured to receive channel state information from the receiving end and select precoding matrices from the hierarchical codebook based on the channel state information; and a precoder configured to apply the precoding matrices selected in the scheduler to data to be transmitted to the receiving end and transmit the selected precoding matrices through a plurality of antennas.