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The Waveform Relaxation (WR) method is an iterative method for analyzing nonlinear dynamical systems in the time domain. The method, at each iteration, decomposes the system into several dynamical subsystems each of which is analyzed for the entire given time interval. Sufficient conditions for convergence of the WR method are proposed and examples in MOS digital integrated circuits are given to show that these conditions are very mild in practice. Theoretical and computational studies show the method to be efficient and reliable.