The paper presents a quantization-theoretic framework for studying incremental Σ∆ quantization systems. The framework makes it possible to efficiently compute the quantization intervals and hence the transfer function of the quantizer, and to determine the mean square error (MSE) and maximum error for the optimal and conventional linear filters for first and second order incremental Σ∆ modulators. The results show that the optimal filter can significantly outperform conventional linear filters in terms of both MSE and maximum error. The performance of conventional Σ∆ quantizers is then compared to that of incremental Σ∆ with optimal filtering for bandlimited signals. It is shown that incremental Σ∆ can outperform the conventional approach in terms of signal to noise+distortion ratio (SNDR) and the characteristics of the power spectral density (PSD). The framework is also used to provide a simpler and more intuitive derivation of the Zoomer algorithm.