Simple analog voltage sensing circuit

Hello, we are a technological start-up. We need some help with the electrical circuit design. We want to add analog voltage sensing for our power monitoring purposes. Info about our circuit and what we need: - Our main circuit can work with the power supply from 3-24VDC range. - Our main circuit is driving the power supply with a 5kHZ PWM for power LED load which can be up to 16A - Our MCU is already working with all peripherals and has integrated SAADC which can read analog input up to 3V with a sample frequency of 32kHZ and 8/10/12 bit resolution. - What we need is an analog circuit which would receive a 3V signal from our MCU and would give an analog output to our MCU in the range of 0-3V which would be proportional to sense the voltage active of the main power supply/electrical load. The circuit must have atleast 0.1V sensing accuracy, prefferrably 0.01V and be resistant to temperature changes and protected from voltage spikes from the power supply to not destroy the MCU or itself. The price of a solution in electrical components should be up to 0.5-1 USD.