If your SDTV can accept rgb scart I'd highly recommend getting an rgb cable, will make the image much sharper and improve the colour of games.
When I first bought my PS3 I only had an SDTV and the text for GTA4 was virtually unreadable, so it sat on the shelf for a month until I got an rgb cable, it made a massive difference, text was clearer and the game looked sharper.
If you do decide to get one, must warn you if you plan to use your PS3 to watch dvd/bluray because of the protection (I think its macrovision not 100% sure) films will be displayed in green.