This work is devoted to prove that the nonlinear control scheme previously proposed by Zavala-Rio, Fantoni and Lozano for the global stabilisation of the planar vertical take-off and landing (PVTOL) aircraft with bounded inputs neglecting the lateral force coupling is robust with respect to the parameter characterising such a lateral force coupling, epsilon, as long as such a parameter takes small enough values. In other words, global stabilisation is achieved even if epsilon > 40, provided that such a parameter be sufficiently small. As far as the authors are aware, such a property has not been proved in other existing control schemes when the value of epsilon is not known. The presented methodology is based on the use of embedded saturation functions. Furthermore, experimental results of the control algorithm implemented on a real prototype are presented.