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Hybrid analog and digital beamforming has emerged as a key enabling technology for millimeter wave (mmWave) massive multiple-input multiple-output (MIMO) communication systems since it can balance the trade-off between system performance and hardware efficiency. Owing to the strong ability of central control, cooperative networks show great potential to enhance the spectral efficiency of mmWave communications. In this paper, we consider cooperative mmWave MIMO systems and propose user association and hybrid beamforming design algorithms for three typical hybrid beamforming architectures. The central processing unit (CPU) of the cooperative networks first matches the service pairs of base stations (BSs) and users. Then, an iterative hybrid beamforming design algorithm is proposed to maximize the weighted achievable sum-rate performance of the mmWave MIMO system with fully connected hybrid beamforming architecture. Moreover, a heuristic analog beamforming design algorithm is introduced for the fixed subarray hybrid beamforming architecture. In an effort to further exploit multiple-antenna diversities, we also consider the dynamic subarray architecture and propose a novel antenna design algorithm for the analog beamforming design. Simulation results illustrate that the proposed hybrid beamforming algorithms achieve a significant performance improvement than other existing approaches and the dynamic subarray architecture has great advantages of improving the energy efficiency (EE) performance.