The Cyber-Physical System (CPS) is considered to be the next generation of intelligent industrial automation systems that integrate computing, communication and control technologies. In CPS, the interoperability requirements between devices and processes are growing rapidly. However, the diversity and heterogeneity of technologies and standards between information technology (IT) and operational technology (OT) in industrial systems pose significant challenges. Service-Oriented Architecture (SOA) provides a software design pattern in which software components are connected only through messaging, which is consistent with the fundamentals of modularity and communication in distributed automation systems. SOA is considered to be a key technology for improving interoperability in next-generation industrial automation systems. This paper introduces the latest research advances in applying SOA paradigms to CPS to improve interoperability, including: Open Platform Communications Unified Architecture (OPC UA) and related extensions, implementing SOA at the manufacturing device level, integrating legacy systems in SOA-based automation systems, Plug-and-Play in SOA-based automation systems, dynamic configuration in SOA-based automation systems and the combination of SOA with Multi-Agent Systems and Evolvable Production Systems.