I. Introduction
In A MULTIUSER multiple-input single-out (MISO) downlink communication system, linear beamforming technique has played a vital role in improving spectrum efficiency and alleviating mutual interference (see e.g. [1]–[3] and references therein). Among many existing optimal beamforming designs, a quality-of-service (QoS) design problem is typically formulated such that the power consumed in the base station (BS) is minimized subject to signal-to-interference-plus-noise ratio (SINR) constraints at the receivers. In this design, the BS must be able to obtain the channel state information at the transmitter (CSIT) and determine the SINRs. However, the BS often has only estimated and imperfect CSIT and thus the SINRs are computed in an inaccurate way. To address the inexactness, the presence of uncertainties in these estimates has to be taken into account. A prominent approach is to design the beamforming vectors such that they are robust against the CSIT imperfectness (see e.g. [4] and references therein).