This slide shows the ADCs that can be found in control, torque, speed, and position feedback loops. ADCs are used to convert current sense amp measurements into the digital domain, covert analog speed or position sensor outputs into the digital domain, or measure the back EMF voltage or bus voltage in 3-phase control algorithms. There are a number of different ADC architectures including the SAR, Delta Sigma, and flash. SARs are currently the most common architecture in motor control, but Delta Sigma is gaining momentum. The advantages of a delta sigma converter include simple, low cost anti-aliasing filtering and the ability to take current measurements directly off the shunt resistor - there is no need for a current sense amp. However, one of the disadvantages is that the decimation / reconstruction filtering burden is shifted to the MCU or to an additional digital filtering chip.