The invention discloses an inverted pendulum control method, device and system based on low-pass filtering. The inverted pendulum control method comprises the steps of obtaining angle information of an inverted pendulum rod and position information of a rotating arm; judging the current motion state according to the angle information of the inverted pendulum swing rod; calculating a motor PWM output value through a double-loop low-pass filtering PID algorithm according to the obtained inverted swing rod angle information, the rotating arm position information, a preset rotating swing rod target angle and a preset rotating arm target position on the basis of the current motion station; and sending an instruction to control the rotating speed of the motor according to the calculated PWM output value of the motor. A low-pass filter is directly added into the controller to predict the motion posture of the swing rod, reduce the inertia and interference influence of the inverted pendulum and keep the swing rod stable. The device has high reliability and stability, diversified control of the system can be achieved, and the whole device is simple in structure and low in cost.