I. Introduction
Transmit beamforming designs through quality-of-service (QoS) optimizations have recently flourished as an important class of multi-antenna transmission techniques. QoS-based transmit beamforming has proven to be a viable, versatile approach to a variety of communication scenarios, such as downlink unicast [2]–[5], downlink multicast [6], and multi-group multicast (a combination of unicast and multicast) [7]. In this topic, the challenges usually lie in the optimization of a desired, possibly nonconvex, design formulation; and convex optimization has been playing a significant role in this aspect, providing tractable solutions that can either exactly solve or well approximate the considered design formulation. For a general coverage of convex optimization for transmit beamforming, readers are referred to the magazine article [8] and the book chapter [9]; see also [10]–[13] for some further studies on the capability of convex optimization, and [14], [15] for some emerging applications.