In this paper, acceleration based reactive torque control is proposed. Proposed control outputs torque against external input torque, such as human input and gravity. The control target is similar to position control. However, the proposed control differs in independent of position due to torque control. In this paper, proposed control is applied to control an inverted pendulum. Unlike conventional control, proposed control works without the proper modeling and many sensors. Positive feedback is utilized to achieve proposed control. However, positive feedback may cause lack of stability. To avoid this, proposed control utilizes not only P control, but also D control as a regulator. To confirm the validity of proposed control, the simulations and the experiments were performed.