In a state of balance without need of support.(adjective)
American Heritage(R) Dictionary of the English Language, Fifth Edition. Copyright (c) 2011 by Houghton Mifflin Harcourt Publishing Company. Published by Houghton Mifflin Harcourt Publishing Company. All rights reserved.
Use "self-poised" in a sentence
"God Himself, therefore, is what He is, self-related, self-tending; otherwise He becomes outward-tending, other-seeking — who cannot but be wholly self-poised."
"Here is a socialization flowing, self-poised, fertilizing; it is full of gracious invitation to all, yet regulates all; it makes liberty by making law; it produces and distributes privilege."
"He had a well-balanced, self-poised character, and so could trust himself"