There are 3 basic interfaces; IDE, SATA, and SCSI. You listed SCSI three times, just in different ways, lol.
Both SCSI and SAS require it's own controller card in order to work, which can get pricey, as well as the hard drives. Although you can get 15K RPM SCSI drives which are by far the fastest around.
SATA 3.0Gb/s is the best choice. It's the most common type nowadays and is generally the cheapest, as well as fastest (behind SCSI/SAS).
ATA133 is the latest version of IDE, so most if not all new IDE hard drives are ATA133 compliant. ATA100 is just a slower version.