This chapter presents a novel scheme that integrates the rate-splitting (RS) technique in Multiple Input Multiple Output (MIMO) systems with non-orthogonal multiple access (NOMA) to improve performance and capacity in wireless communication systems under imperfect channel state information at the transmitter (CSIT) and in overloaded regimes. The proposed approach addresses a general and realistic scenario, incorporating both unicast and multicast users, aiming to increase system throughput through the optimization of precoding vectors and power allocation. A generic power allocation optimization technique is introduced, which can be employed for maximizing both the minimum-rate and sum-rate, focusing on the rate of the weakest user within each group per cluster. To tackle the non-convex nature of the problems, the proposed technique leverages the WMMSE-rate relationship and an alternating optimization (AO) algorithm, transforming the problem into a convex one. The chapter provides a comprehensive analysis of the proposed scheme, offering a tutorial background and presenting novel insights for an enhanced understanding.