In this paper, we develop various beamforming techniques for downlink transmission for multiple-input single-output (MISO) non-orthogonal multiple access (NOMA) systems. First, a beamforming approach with perfect channel state information (CSI) is investigated to provide the required quality of service (QoS) for all users. Taylor series approximation and semidefinite relaxation (SDR) techniques are employed to reformulate the original non-convex power minimization problem to a tractable one. Further, a fairness-based beamforming approach is proposed through a max-min formulation to maintain fairness between users. Next, we consider a robust scheme by incorporating channel uncertainties, where the transmit power is minimized while satisfying the outage probability requirement at each user. Through exploiting the SDR approach, the original non-convex problem is reformulated in a linear matrix inequality (LMI) form to obtain the optimal solution. Numerical results demonstrate that the robust scheme can achieve better performance compared to the non-robust scheme in terms of the rate satisfaction ratio. Further, simulation results confirm that NOMA consumes a little over half transmit power needed by OMA for the same data rate requirements. Hence, NOMA has the potential to significantly improve the system performance in terms of transmit power consumption in future 5G networks and beyond.