An image forming apparatus comprising: first and second image carriers arranged to form an image on a recording sheet; first and second motors arranged to drive the first and second image carriers respectively to rotate; first and second detection means arranged to detect an angular speed or a peripheral speed of each of the first and second image carriers respectively; and first and second feedback means arranged to perform a feedback control of rotation of the first and second motors respectively according to the detected angular speed or the detected peripheral speed of each of the first and second image carriers; characterized by determining means arranged to determine an image forming mode; a control means arranged to set a feedback gain of the feedback control performed by the first and second feedback means based on the determined image forming mode, wherein, so as to suppress a color misregistration, the control means is arranged to set a first feedback gain for suppressing an angular speed variation of a first frequency to the first and the second feedback means in a multi-color image forming mode, in which a first image formed by the first image carrier and a second image formed by the second image carrier are overlaid, and, so as to suppress a banding, the control means is arranged to set a second feedback gain for suppressing an angular speed variation of a second frequency different to the first frequency to at least the first feedback means in a single color image forming mode in which the first image formed by the first image carrier and the second image formed by the second image carrier are not overlaid. first and second image carriers arranged to form an image on a recording sheet; first and second motors arranged to drive the first and second image carriers respectively to rotate; first and second detection means arranged to detect an angular speed or a peripheral speed of each of the first and second image carriers respectively; and first and second feedback means arranged to perform a feedback control of rotation of the first and second motors respectively according to the detected angular speed or the detected peripheral speed of each of the first and second image carriers; characterized by determining means arranged to determine an image forming mode; a control means arranged to set a feedback gain of the feedback control performed by the first and second feedback means based on the determined image forming mode, wherein, so as to suppress a color misregistration, the control means is arranged to set a first feedback gain for suppressing an angular speed variation of a first frequency to the first and the second feedback means in a multi-color image forming mode, in which a first image formed by the first image carrier and a second image formed by the second image carrier are overlaid, and, so as to suppress a banding, the control means is arranged to set a second feedback gain for suppressing an angular speed variation of a second frequency different to the first frequency to at least the first feedback means in a single color image forming mode in which the first image formed by the first image carrier and the second image formed by the second image carrier are not overlaid. <EOS>