Systems and methods are disclosed for Successive Approximation Register Analog-to-Digital Converter (SAR ADC) by coupling an ADC capacitive network coupled to a comparator; and performing binary search using a comparator output using a capacitive DAC calibration process to enhance SAR ADC linearity and performance. In one implementation, the calibration process starts with the least significant bit (LSB) capacitor calibration then proceed to higher bit capacitors until all the capacitors are calibrated. Each capacitor consists of fixed-value base capacitor and value-adjustable capacitor. The capacitor calibration logic is implemented based on the process then incorporated into SAR ADC. ADC performs capacitor calibration first before normal conversion operation. The non-ideal aspect of normal conversion operation is preserved and accounted during capacitor calibration. By employing capacitor calibration, the DAC capacitor value can be minimal to enhance settling and conversion rate, SAR ADC performance is improved.