Various types of encoders or resolvers can be used for position feedback in motor control. An incremental encoder is probably the most commonly known encoder. Incremental encoders have digital outputs. These are known as the A and B outputs and require some form of post processing or counting. This is generally regarded as a low resolution solution. Sine/Cosine encoders have analog outputs which can be based on optical, magneto-resistive or hall effect technology. The sine/cosine analog outputs require A/D conversion to provide interpolation between points and this results in a high resolution solution. Absolute encoders are another option, where a high resolution digital word output is provided. For example sometimes the internal make-up of the encoder can be a sine/cosine encoder integrated with an ADC as opposed to an absolute encoder disk. Lastly, resolvers are another option for position feedback. Resolvers provide an analog output and need some form of resolver to digital conversion either in the form of an ADC or a resolver to digital converter. Resolvers provide a robust solution and are therefore popular in dirty industrial environments.