Current feedback is needed to accurately control motor torque, for short circuit protection in discrete drive stages and for advanced control algorithms such as Field Oriented Control (AKA FOC). There are several different current sensing architectures with low-side and in-line current sensing being the most common in motor control. High-side current sensing is also an option, but normally in-line current sensing is preferred over high-side current sensing. Current measurement options include shunt resistors, Hall Effect sensors, and current transformers. For low to mid currents, shunt resistors are the most popular option while for higher currents and voltages, LEM sensors and current transformers are preferred.