Method of controlling the temperature of a vector fluid of a heating system for heating at least a portion of a building, said heating system comprising: heating means configured to heat the vector fluid in response to a temperature command, at least one heating element arranged inside said at least a portion of the building, the at least one radiating element being configured to receive the vector fluid and give heat to the surrounding environment, a temperature sensor (S 1, S 2, S 3) configured to measure the ambient temperature inside said at least one portion of the building and transmits a value of the measured temperature, a control unit configured to receive the measured temperature value and to generate a command for controlling the heating means based on said measured temperature value, wherein the method comprises having the control unit: - implementing (401-404; 601-608) a continuous control mode which comprises generate a continuous control command to maintain a target temperature value in said at least a portion of the building, - implementing (405; 607; 701-707; 801-804) an on-off control mode which comprises generate an off command control when the target temperature value is reached in said at least a portion of the building or when the continuous control command is kept at a minimum value for a predetermined period of time, and - providing one selected between said continuous control command or said off control command to the heating means, characterized in that the method further comprises having the control unit: - implementing a mathematical model of the integral or pseudo-integral type configured to estimating the value of the ambient temperature as a function of the temperature of the vector fluid and a temperature outside the building, and - calculating at least one operating parameter of the continuous mode on the basis of said mathematical model of the integral or pseudo-integral type. heating means configured to heat the vector fluid in response to a temperature command, at least one heating element arranged inside said at least a portion of the building, the at least one radiating element being configured to receive the vector fluid and give heat to the surrounding environment, a temperature sensor (S 1, S 2, S 3) configured to measure the ambient temperature inside said at least one portion of the building and transmits a value of the measured temperature, a control unit configured to receive the measured temperature value and to generate a command for controlling the heating means based on said measured temperature value, wherein the method comprises having the control unit: - implementing (401-404; 601-608) a continuous control mode which comprises generate a continuous control command to maintain a target temperature value in said at least a portion of the building, - implementing (405; 607; 701-707; 801-804) an on-off control mode which comprises generate an off command control when the target temperature value is reached in said at least a portion of the building or when the continuous control command is kept at a minimum value for a predetermined period of time, and - providing one selected between said continuous control command or said off control command to the heating means, - implementing (401-404; 601-608) a continuous control mode which comprises generate a continuous control command to maintain a target temperature value in said at least a portion of the building, - implementing (405; 607; 701-707; 801-804) an on-off control mode which comprises generate an off command control when the target temperature value is reached in said at least a portion of the building or when the continuous control command is kept at a minimum value for a predetermined period of time, and - providing one selected between said continuous control command or said off control command to the heating means, characterized in that the method further comprises having the control unit: - implementing a mathematical model of the integral or pseudo-integral type configured to estimating the value of the ambient temperature as a function of the temperature of the vector fluid and a temperature outside the building, and - calculating at least one operating parameter of the continuous mode on the basis of said mathematical model of the integral or pseudo-integral type. - implementing a mathematical model of the integral or pseudo-integral type configured to estimating the value of the ambient temperature as a function of the temperature of the vector fluid and a temperature outside the building, and - calculating at least one operating parameter of the continuous mode on the basis of said mathematical model of the integral or pseudo-integral type.