Abstract: Synthetic Aperture Sonar (SAS) is the high-resolution acoustic imaging technique which allows to improve the along-track resolution. An effectiveness of modern SAS systems strongly depends on the compensation of motion errors caused by platform path deviations. Without applying a proper processing as small deviations as a fraction of wavelength causes a serious degradation of the reconstructed SAS image. A robust motion compensation still seems to be a challenge in such a difficult environment as the restless sea. Types of motion errors, their influence on SAS systems, motion compensation methods were shortly categorized here. A few possible ways of motion compensations with their derived mathematical models are presented in the paper as well as results of numerical simulations.