This chapter addresses the regulation of second-order non-minimum phase (NMP) systems by combining integral feedback with process shaping via a posicast module. For a canonical underdamped second-order plant with a right-half-plane zero, we derive closed-form tuning rules for the shaper amplitude and delay from the damped frequency and decay rate, and show that the dominant oscillatory poles are counteracted while the NMP zero is preserved. The integral loop enforces zero steady-state error and compensates model mismatch and disturbances. The approach is applied to the voltage-to-duty-cycle channel of a boost converter, whose transfer function exhibits an RHP zero. Numerical simulations on a synchronous boost converter tests overshoot-free responses, reduced settling time, and improved tracking under step commands and load changes across a range of integral gains.