Conclusion

The self tuning PI controller is able to accomplish the aim of keeping the temperature as close as possible to the set point. Although it may show some initial overshoot or oscillation for some values of set point change, the time needed for stabilisation is low. There may also some cases where the conventional controller shows bigger oscillations than the self tuning controller.
The PI controllers, both conventional and self tuning, show oscillations for some values of set point change. To eliminate the oscillations, when we use the PID Controller, the self tuning design definately seems to be a better option because for higher values of set point change, the self tuning PID controller shows a better performance than the conventional controller as seen in section 9.6.3.