An image forming apparatus comprising: a plurality of photosensitive media (141, 142, 143, 144); an image forming unit configured to perform a printing operation by using the plurality of photosensitive media; a plurality of motors (151, 152, 153, 154) configured to drive the plurality of photosensitive media; and a motor controller configured to control, based on a periodic velocity of one motor from among the plurality of motors, a phase and a velocity of the other motors, wherein the motor controller is arranged to sense periodic velocities of the plurality of motors, to synchronize a velocity phase of each of the plurality of motors based on the sensed periodic velocities, and to feed-forward control the other motors to have a same velocity based on the periodic velocity of the one motor from among the plurality of motors whose velocity phases are synchronized; and wherein the image forming unit is arranged to form a preset pattern on an image forming medium by using each of the plurality of photosensitive media; and wherein the motor controller is arranged to sense a periodic velocity of each of the plurality of photosensitive media by sensing the pattern formed on the image forming medium; and wherein the motor controller is arranged to sense the pattern formed on the image forming medium by checking a gap variation of each of the plurality of photosensitive media by sensing the pattern formed on the image forming medium, and calculate the periodic velocity in a form of a sine function corresponding to the gap variation, wherein the motor controller is arranged to control the other motors to follow a sine function of the one motor. a plurality of photosensitive media (141, 142, 143, 144); an image forming unit configured to perform a printing operation by using the plurality of photosensitive media; a plurality of motors (151, 152, 153, 154) configured to drive the plurality of photosensitive media; and a motor controller configured to control, based on a periodic velocity of one motor from among the plurality of motors, a phase and a velocity of the other motors, wherein the motor controller is arranged to sense periodic velocities of the plurality of motors, to synchronize a velocity phase of each of the plurality of motors based on the sensed periodic velocities, and to feed-forward control the other motors to have a same velocity based on the periodic velocity of the one motor from among the plurality of motors whose velocity phases are synchronized; and wherein the image forming unit is arranged to form a preset pattern on an image forming medium by using each of the plurality of photosensitive media; and wherein the motor controller is arranged to sense a periodic velocity of each of the plurality of photosensitive media by sensing the pattern formed on the image forming medium; and wherein the motor controller is arranged to sense the pattern formed on the image forming medium by checking a gap variation of each of the plurality of photosensitive media by sensing the pattern formed on the image forming medium, and calculate the periodic velocity in a form of a sine function corresponding to the gap variation, wherein the motor controller is arranged to control the other motors to follow a sine function of the one motor.