How can a stable system have a RHP pole?
How can a stable system have a RHP pole?


It can't.


  Now, I have that if I do the root locus I have: (image left out of quote)
  so I have a pole in the RHP.


This is where you misunderstand.  The word "locus" means "The set of all points whose coordinates satisfy a given equation or condition".  The traces in that root locus show all possible locations for the poles -- and there's a lot of possible locations for poles inside the stability region.


  But I have that with an appropriate value of the gain of the controller we have a stable system. But in this case the pole should be in the LHP, not in the RHP. 


In this case the poles are in the LHP.  You would find the gain where all the poles are stable (my intuition tells me you want the real part of your complex poles is in the neighborhood of $-2.5\mathrm{s^{-1}} &lt; \mathcal{Re}(s) &lt; -2.0\mathrm{s^{-1}}$), and then your system will be stable.