A self-tracking analog-to-digital converter includes a digital-to-analog converter (DAC) adapted to provide a variable reference voltage, a windowed flash analog-to-digital converter (ADC) adapted to provide an error signal e.sub.k corresponding to a difference between an input voltage V.sub.i and the variable reference voltage, and digital circuitry adapted to generate suitable control signals for the DAC based on the error signal e.sub.k. More particularly, the digital circuitry includes a first digital circuit adapted to provide a first function value f(e.sub.k) in response to the error signal e.sub.k, the first function value f(e.sub.k) representing an amount of correction to be applied to the variable reference voltage. A second digital circuit is adapted to provide a counter that combines the first function value f(e.sub.k) with a previous counter state N.sub.k to provide a next counter state N.sub.k+1, the next counter state N.sub.k+1 being applied as an input to the digital-to-analog converter. A third digital circuit is adapted to scale the previous counter state N.sub.k by a factor M and combine the scaled counter state MN.sub.k with the error signal e.sub.k to provide a digital output value D.sub.k representing the input voltage V.sub.i.