Does a RHP zero imposes some limitation in the time domain?
If a RHP zero imposes limitation on the bandwidth in the frequency domain, it also imposes limitation in the time domain. This is due to time-frequency duality.

For example, if you want to have a really fast step response, a slow RHP zero will prevent you from reaching that goal.

I really recommand Murray's book for more information http://www.cds.caltech.edu/~murray/amwiki/index.php/Second_Edition