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This paper addresses the linear transceiver design with Quality of Service (QoS) constraints in an Amplify-and-Forward (AF) Multiple-Input Multiple-Output (MIMO) relay system. Taking both the direct and the relay links into account and using the Minimum-Mean-Squared-Error (MMSE) receiver at the destination, they jointly design the source/relay precoders such that the transmitted power is minimized and QoS constraints are satisfied. The optimization problem such formulated, however, is a highly nonlinear formulation of the source and relay precoders, and the optimum solution is difficult to derive.
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