• A vibrating system with four reverse internal-driving degrees of freedom is proposed. • Self-balancing characteristics and stability are studied. • Stable states and the motion types in the different resonant regions are analyzed. • Test bench is designed to verify the correctness of the theory and analysis results. For self-synchronous vibrating systems, the large dynamic loads are usually transmitted by the system to the foundation, resulting in the problems of noise pollution, damaging the foundation, and exacerbating components and parts wear and tear, etc. In the current study, from the perspectives of mechanics and mechanism, we have discovered the principle of self-balancing based on self-synchronization theory, which can effectively solve these problems. First, a dynamical model with four internal degrees of freedom driven by four reverse-rotating exciters is proposed to study its synchronization, stability, and self-balancing characteristics. Then, in theory, the equations of motion, the criteria of synchronization and stability of the system are deduced using Lagrange's methods, the average method, and Routh–Hurwitz stability criterion, respectively. Based on the principle that the dynamic load transmitted to the foundation when the system realizes self-balancing is theoretically zero, the self-balancing conditions of the system are further provided. Based on these conditions, the stability and self-balancing characteristics of the system in different resonant regions are qualitatively analyzed numerically, including the stable phase differences among exciters, stability ability of the system, amplitudes of rigid frames, and motion characteristics. Finally, the simulations and experiments are further carried out to examine the correctness of the theoretical results and numerical analysis results. It's shown that the reasonable working point in engineering should be selected in the first sub-resonant region of the vibrating system. The present work can provide theoretical guidance for designing some new types of vibrating systems with the function of self-balancing. [ABSTRACT FROM AUTHOR]