Some, but not all. I agree about Robo-Rally. But try to enforce time limit in a game like Mage Knight!
Try enforcing a time limit in a really deep game like Chess! Oh wait.
If you can play Chess and Blood Bowl under time pressure, you should be able to play Mage Knight.
Talking about RPGs, whether a time limit works or not will depend on the group.
This is probably the most generic thing you can say about an RPG. After considering the options carefully, whatever the group is happy with is what they should do. If everyone is having fun, there is no problem. Once again, let me stress that my comments are intended to fix a problem, namely that play is dragging due to an excess of planning and debate (and probably no small amount of dithering), and as a result one or more players at the table are frustrated and no longer fully enjoying the game. If in fact everyone is happy, there isn't a pressing need to implement any of my suggestions, and naturally if everyone is happy that's a sufficient reason to reject any of these suggestions.
That said...
But I've played in games that prefer a grittier approach and all encounters tend to be deadly unless everyone's playing at their best. Recalling our D&D 3E sessions, in many encounters, if one or two players would have been forced to resort to a default defensive action, we'd have had a guaranteed TPK on our hands. It would have been impossible to successfully conclude a long-going high-level campaign under such conditions.
I suppose it's a matter of personal preferences, but 'simulating the chaos and confusion of combat' by putting the players under strict time pressure isn't my idea of fun. What may work for some kinds of board-games doesn't necessarily work for a ten-year RPG campaign.
If you are in a ten year old RPG campaign which features a lot of tactics and that game has reached high level, there is literally no excuse for playing slowly. You've got highly experienced players who should at this point be skillful, practiced, and knowledgeable of the game and how to play their characters. You should by this point have a team of players capable of playing under tournament conditions, where handling time pressure and quick elegant play is essential for success. If play is going slow at that point, it's almost certainly poor habits (like not paying attention when it isn't your turn, not analyzing the board, relying on other players to play your character, tactical success via metagaming the DM to get feedback, and so forth) and not the inability to play more quickly. I'm reminded of playing Settlers of Cataan with a particular player who would spend literally 5 or 6 minutes offering completely ludicrous trades, badgering people to take trades, reoffering trades that had already been refused, trying to craft 3 or 4 card supertrades and various other dysfunctional behavior. The problem wasn't a lack of intelligence. The problem was a lack of willingness to accept the game state and deal with it. If the whole table loves this sort of thing, and geeks out on mentally trying out a dozen plans before settling on what they want to do this round, then ok, have fun. But the idea that players with 10 years experience actually need minutes of time on their turn to come up with an action to take strikes me as ridiculous.