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Current sensing can happen at different places in the circuit. Generally, it can be on the high side, close to the power supply in order to get the best performance (accuracy), monitor the current directly from the source, and get the full current information in AC-based motor control applications. However, it requires to have high common-mode voltage operation, and hence some high level of isolation to withstand the common-mode voltage. Thus low side sensing is very frequent as there are very low isolation requirements when the sensor is close to the ground, making it straightforward and cheap. However, it also subjects the sensor to other challenges like ground bouncing. Furthermore, it is impossible to detect when the load is shorted to ground in this position, preventing the current sensor to help in the troubleshooting efforts. For the example here of motor control applications, there are 3-phases to the current where in-line sensing allows to get the most amount of information (notably, the direction of each of the phased currents). But It needs have a good Common Mode Rejection to accommodate high and low voltages at the same time without adding a DC offset component to the signal that could damage the motor (noise, vibration, pulsating torque, and overheating).
