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In this paper, we consider a robust design of MIMO-relay precoder and receive filter for the destination nodes in a non-regenerative multiple-input multiple-output (MIMO) relay network. The network consists of multiple source-destination node pairs assisted by a single MIMO-relay node. The source and destination nodes are single antenna nodes, whereas the MIMO-relay node has multiple transmit and multiple receive antennas. The channel state information (CSI) available at the MIMO-relay node for precoding purpose is assumed to be imperfect. We assume that the norms of errors in CSI are upper-bounded, and the MIMO-relay node knows these bounds. We consider the robust design of the MIMO-relay precoder and receive filter based on the minimization of the total MIMO-relay transmit power with constraints on the mean square error (MSE) at the destination nodes. We show that this design problem can be solved by solving an alternating sequence of minimization and worst-case analysis problems. The minimization problem is formulated as a convex optimization problem that can be solved efficiently using interior-point methods. The worst-case analysis problem can be solved analytically using an approximation for the MSEs at the destination nodes. We demonstrate the robust performance of the proposed design through simulations.