The equivalent force control (EFC) method has been developed for real-time hybrid testing (RHTing) to replace the numerical iteration for implicit integration with a force-feedback control loop. With this control loop, the EFC method can also compensate the time delay in RHTing. However, some other factors may influence the delay compensation effect of EFC method, such as noise in the measured displacement. This paper discusses the influence of the measured noise (fedback into the displacement command of actuator) on RHTing with EFC method. To filter the noise in the measured actuator displacement, a Kalman filter is designed. A higher proportional gain of PID controller, which improves the effect of time delay compensation of EFC method, can be allowed without losing stability by using the Kalman filter. A series of RHTs were conducted to demonstrate that EFC method with Kalman filter can effectively compensate the time delay.