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Non-orthogonal multiple access (NOMA) enables power-domain multiplexing via successive interference cancellation (SIC) and has been viewed as a promising technology for 5G communication. The full benefit of NOMA depends on resource allocation, including power allocation and channel assignment, for all users, which, however, leads to mixed integer programs. In the literature, the optimal power allocation has only been found in some special cases, while the joint optimization of power allocation and channel assignment generally requires exhaustive search. In this paper, we investigate resource allocation in downlink NOMA systems. As the main contribution, we analytically characterize the optimal power allocation with given channel assignment over multiple channels under different performance criteria. Specifically, we consider the maximin fairness, weighted sum rate maximization, sum rate …