The invention relates to an inverted pendulum system based on a counter moment rotary mechanism. The inverted pendulum system comprises a base, a guide rail, a sliding block direct current servo motor, a drive wheel, a driven wheel, a belt, a pendulum bar support, a connection rod, a pendulum bar, a spherical joint, a flywheel, a flywheel drive motor, a flywheel drive motor angle encoder, a sensor box, a control unit, a flywheel rotation inner ring, a damper, a flywheel fixing outer ring and a direct current servo motor angle encoder. The inverted pendulum system has free degrees in vertical direction and lateral direction, lateral balance is realized by a counter moment generated on the basis of a damper technique under the assistance of an inertia flywheel, and vertical balance is achieved by vertical movement of a sliding block along the guide rail. The system is simple and reliable in design and is clear in structure; by the system, an experiment platform is provided for research on a single-wheel robot and the like, and simultaneously, the function of the existing inverted pendulum experimental apparatuses is expended; and the system can be used for verifying the correctness of a theory or method in the control field.