Let's define what we mean by Industrial Revolution. I'm going to say this is a period of time where there was a massive shift from hand production of goods to mechanized production of goods (so things like the steam engine and spinning jenny never being invented).
Do I believe this could be prevented forever? Absolutely not, it would happen unless civilization kept getting reset. Could we delay it for a few centuries? Now, that's possible.
There were a lot of driving forces for the Revolution, and I'm not going to argue over them (because I'm not a historian, I'm a software engineer), but the ones that look the most important to me are an available workforce (population), spread of knowledge, and an increase in social freedoms and economic standing.
As was true in the Renaissance, the spread of knowledge empowers social change. If you have a society or system that tamps down on knowledge sharing (an autocratic regime or strict religion might work) you can reduce the likelihood that enough people create enough machines to make the revolution happen.
Maybe there's a guild or trade group that restricts such knowledge, to protect their manufacturing. Maybe inventors aren't incentivized to create new things, because any time they do their ideas are stolen and make someone else rich.
Revolutions in agriculture and a population boom assisted the Industrial Revolution by providing a workforce for new factories. If most of your population is drawn off for agriculture or military service (or if there's just not a lot of population growth because of disease or a society that restricts how many children you can have) you won't have the labor force to do anything if those industrial processes are created.
Social Freedoms and Economics
In medieval times, serfs remained on the land of their lord. They were largely not permitted travel without permission, and were tied to the land. This limited the spread of ideas, and also limited the wealth of the lower classes. Why does this matter? Machines are expensive. If there's no captialist draw to owning a machine and making profits from it, there's less chance of it happening. Do you think a comfortable noble, who makes money doing absolutely nothing, will give that money to someone else so they can build a fanciful machine to make goods others? Not when it's cheaper to hire a seamstress or cobbler to make the handful of goods he needs himself (which would probably be higher quality than the machined ones). A rich man might want to become richer, but before the Industrial Revolution, there were other ways of doing it that were more familiar and comfortable.
My solution would be to have the majority of the story take place inside an Empire with a theocratic and oligarchic elements in the government, such as composing something like the houses of a legislature (e.g. the theocratic side could be something like the House of Lords, while the Trade Guilds could form a House of Commons).. While the Emperor is not directly tied to the religious sect or the trade guilds, his actions are heavily influenced by them. The religious sect has a tight control over the printing of books and manuscripts, and any found without their mark are considered illegal and immoral. The owner is considered a heretic. Religion should be very important to the people, to help prevent revolution.
The Trade Guilds control specialized knowledge over their domains, and tamp down tightly on any inventions or ideas that would hurt this control. They actively hunt for inventors, bringing them into the guilds or removing them as a problem. They pride the quality of their wares (as most of their profit comes from the nobility), so unless an invention improves the quality of the goods, it will likely not be put into production. These Trade Guilds also crack down on people selling finished goods without their approval (but do allow production of "home use" goods, just don't try selling them). Parents should relish the opportunity to send their children into apprenticeship programs, and such programs should be highly selective. Most of the people should be simple farmers.
The final key is preventing revolution. This Empire is heavily xenophobic, and is surrounded by weaker kingdoms of different cultures. Every few years, the Empire will attack one of these kingdoms (or be attacked by it). Depending on your technology scale, these could be anything from long, drawn-out medieval sieges, where thousands die from disease and starvation, to gun-powder era battles where thousands die from grape shot and the like (a lack of an industrial manufacturing base would mean capturing enemy equipment might be very lucrative. If you can't mass produce cannon, capturing your enemy's might be a good thing).
Finally, the Emperor should be very kind and generous to his people to prevent revolution. Host festivals and games, help the poor, have a pension plan for the military veterans, etc. The xenophobic part should help a lot too, because social revolution is less likely when there are enemies at the gates.