From its debut in 1991 it underwent several modifications and upgrades, which culminated in the last version, the RSA 250.

In 2007 the bike was made available in a new version, amended to RSA 250, characterized by many different details from previously, including a revised intake system and the new disposition of the gear unit and of thermal groups.

[clarification needed] The measurements of the frame changed to use a longer swingarm, and obtain benefits both in acceleration and traction.

Another change involved use of three accelerometers to get more data for the management of the power of motion in situations of low adhesion in order to speed up the development of Aprilia RSV 4 which entered the Superbike World Championship in 2009.

The RSA (and the "evolution" version of the RSW) were used not only by Aprilia, but also by Gilera and Derbi (rebranded as such), since all three brands belong to the Piaggio group.