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Intelligent reflection surface (IRS) has recently been recognized as a promising technique to enhance the performance of wireless systems due to its ability of reconfiguring the signal propagation environment. However, the perfect channel state information (CSI) is challenging to obtain at the base station (BS) due to the lack of radio frequency (RF) chains at the IRS. Since most of the existing channel estimation methods were developed to acquire the cascaded BS-IRS-user channels, this paper is the first work to study the robust beamforming based on the imperfect cascaded BS-IRS-user channels at the transmitter (CBIUT). Specifically, the transmit power minimization problems are formulated subject to the worst-case rate constraints under the bounded CSI error model and the rate outage probability constraints under the statistical CSI error model, respectively. After approximating the worst-case rate constraints by using the S-procedure and the rate outage probability constraints by using the Bernstein-type inequality, the reformulated problems can be efficiently solved. Numerical results show that the negative impact of the CBIUT error on the system performance is greater than that of the direct CSI error.