I. Introduction
Since the first idea underlying the operation of modulators was patented [1] and applied to implement analog-to-digital converters (ADCs) [2] around 50 years ago, there has been a huge number of circuits and systems exploiting in many different industrial applications—from instrumentation to communications [3]–[16]. Based on the combination of oversampling and quantization error shaping techniques, achieve a high degree of insensitivity to analog circuit imperfections, thus making them a good choice (the best one in many cases) to realize embedded analog-to-digital interfaces in modern systems-on-chip (SoCs) integrated in nanometer CMOS.