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This paper presents a novel time-domain integration method for transient analysis of nonuniform multiconductor transmission lines (MTLs). It can solve the time response of various kinds of transmission lines with arbitrary coupling status. The spatial discretization in this method is the same as the finite-difference time-domain (FDTD) algorithm. However, in order to eliminate the Courant-Friedrich-Levy condition constraint, a precise time-step integration method is utilized in time-domain calculation. It gives an analytical solution in the time domain for the spatial discretized Telegrapher's equations with linear boundary conditions. Large time steps can be adopted in the integration process to achieve accurate results efficiently. In the analysis of transmission lines with frequency-dependent parameters, a passive equivalent model is introduced, which leads to the similar semidiscrete model as that for the frequency-independent case. In addition, a rigorous proof of the passivity of the model is provided. Numerical examples are presented to demonstrate the accuracy and stability of the proposed method.