Madonna, who landed the BBC in trouble by swearing at the Live Earth gig last year, introduced the song 'Hung Up' by saying: "You guys are going to have to start fucking it up out there cos I need to feel some love.
"I'm going to do an old song. But not too old. Fuck the present. Let's live in the past."
The BBC received four complaints in all, two of which related to Radio 1's coverage and two to BBC Three's.
A BBC spokeswoman pointed out that the swearing had been broadcast after the watershed and the coverage had followed a clear warning that there could be strong language. The set was also followed by an apology from presenter Zane Low.
Last year's Live Earth gig attracted 150 complaints to the BBC due to swearing by Madonna, Phil Collins and Razorlight's Johnny Borrell, leading Ofcom to instruct the corporation to issue two on-air explanations.
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