I. Introduction
In recent years, wireless communications using the millimeter-wave (mmWave) frequency band have received a great deal of attention as a means to meet the ever-increasing throughput demand of next generation communication systems [1]–[3]. A vast amount of bandwidth has not yet been explored by the current communication systems; thus, mmWave communications are a promising solution to meet the required data throughput. The significant path loss of mmWave channels is a major obstacle that makes seamless communication over the mmWave band difficult [4]–[6]. Compared to the conventional communication systems that use microwave radio waves, the mmWave band experiences high atmospheric attenuation when a transmit signal is absorbed by gas and humidity. Additionally, a significant path loss occurs when the signal is blocked by obstacles such as buildings, foliage, and the user’s body [2]. Beamforming, where two communication entities transmit and receive the signals with appropriately adjusted phase and amplitude using an array of antennas, is the key enabler in overcoming this drawback [3], [7]–[9]. By boosting the signal energy transmitted and received in the desired directions, the beamforming techniques can compensate for the large path loss of mmWave channels.