Does a RHP zero imposes some limitation in the time domain? I am studying control systems and I have seen that a non-minimum phase zero imposes a limitation on the bandwidth, which is that the bandwidth has to be lower than the frequency which is half the frequency of the RHP pole.
I have also seen that it imposes in the step response an undershoot, but as far as I know there are no other influences of RHP zero in the time domain.
Does a RHP zero impose any other 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