Sigma delta modulation is viewed as a technique that employs integration and feedback to move quantization noise out of baseband. This technique may be iterated by placing feedback loop around feedback loop, but when three or more loops are used the circuit can latch into undesirable overloading modes. In the desired mode, a simple linear theory gives a good description of the modulation even when the quantization has only two levels. A modulator that employs double integration and two-level quantization is easy to implement and is tolerant of parameter variation. At sampling rates of 1 MHz it provides resolution equivalent to 16 bit PCM for voiceband signals. Digital filters that are suitable for converting the modulation to PCM are also described.