A successive approximation ADC is disclosed. A comparator receives and compares a sampled input signal and an output of a DAC. Non-binary successive approximation register (SAR) control logic controls sampling of the input signal and controls a sequence of comparisons based on comparison result of the comparator. The SAR control logic controls each comparison when signal or charge in the DAC has not been completely settled. A binary-error-tolerant corrector is then used to compensate the sampling error.