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Efficient timing macromodels for CMOS static NAND-type and NOR-type latches are developed, to compute analytically their signal timing under different input state transitions. The timing equations in the macromodels are derived from the effective dominant pole of the linearised large-signal equivalent circuit of a latch under the characteristic-waveform consideration. Through extensive comparisons with SPICE simulations, it is found that the macromodels have a maximum error of 22% for the total propagation delay times of the latches, with different device sizes, capacitive loads, device parameter variations, noncharacteristic-waveform input excitations and input-state transitions. When incorporated with the timing models of CMOS combinational logic gates, the macromodels can also be applied to characterise the signal timing of static sequential integrated circuits. Application examples on two CMOS clocked flip-flops and experimental verifications on a fabricated CMOS master-slave T flip-flop are successfully made to confirm the accuracy and applicability of the developed macromodels. Reasonable accuracy, wide applicable ranges and CPU-time, and memory efficiency have made the macromodels very attractive in many CAD applications.