A tracking ADC with a feed-forward loop is disclosed. The tracking ADC includes a feedback circuit configured to generate a feedback signal using an input voltage and a comparison circuit configured to sample, using a plurality of threshold values, the feedback signal to generate a plurality of samples. A counter circuit is configured to update a count value using a subset of the plurality of samples. A digital-to-analog converter (DAC) circuit configured to generate a control signal using the count value. The feedback circuit is further configured to modify the feedback signal using the control signal and at least one of the plurality of samples. By modifying the feedback voltage, the settling time may be reduced, allowing the ADC to be run at a higher clock speed.