A circuit includes a first digital filter that generates a first output based on a digital input and a first digital output signal. A first digital modulator generates the first digital output signal and a first error output based on the first output and a feedback error output. A second digital modulator generates a second output and a second error output based on the first error output. A second digital filter generates a second digital output signal based on the second output, and a third digital filter generates the feedback error output based on the second error output. The second digital output signal and the second error output are based on the first error output amplified by a predetermined gain.