If you download the nLite application from click here and then run it, you will see, after initially clicking 'Next' and specifying the source for you Windows XP installation, and option to 'Integrate Drivers'. You can then use this to 'slipstream' the drivers for your SATA/RAID controller into the actual Windows installation, meaning that Windows will instinctually use them without complaint, and without asking you for them. Note that you will need to copy the contents of your Windows installation CD to your hard drive before using the above method, as well as the drivers for your SATA/RAID controller. i strongly recommend you use the latest driver from your motherboard chipset manufacturer, and NOT those that came with the board, as these will be newer and will have had fixes integrated into them to resolve any faults/problems. This is particularly importnat in the case that you have a VIA chipset on your motherboard.
nLite will automatically, once you've pointed it to the SATA/RAID drivers, detect them as TEXTMODE drivers. This simply means that they're used in the initial part of Setup, and before anything gets copied to the hard drive - after all, one needs a drive to be present before you can copy files to it! You can just go ahead, click OK, then 'Next' and 'yes' to apply the changes.
After this is done, and nLite has done its thing, you will need to convert the folder where you copied the Windows installation CD files to into a bootable ISO. Don't worry, nlite can do this, simply go back into the application and select 'Make Bootable ISO' and follow the instructions there. You can then burn this ISO to CD and use it to install Windows as normal.
I know this is a rather basic guide to doing the slipstreaming, but more information on using nLite can be found on their website click here and on their forum.