101109TCSI2007895512This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Copyright 2006 IEEE. Personal use of this material is permitted. However, permission to use this material for any other purposes must be obtained from the IEEE by sending an email to pubs-permissions@ieee.org. This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. 3722 1 Phase-error-measurement and -compensation in PLL frequency-synthesizers for FMCW sensors Part I: Context and Application Markus Pichler, Student Member, IEEE, Andreas Stelzer, Member, IEEE, Peter Gulden, Claus Seisenberger, and Martin Vossiek, Senior Membe……