Patent ID: 8131173

Claim:
An image forming apparatus comprising: a latent image support configured to support a latent image; a developing unit configured to develop the latent image on the latent image support into a toner image; an intermediate transfer unit configured to transfer the toner image on the latent image support onto an intermediate transfer body; a secondary transfer unit configured to transfer the toner image transferred onto the intermediate transfer body onto a sheet member; a fixation unit configured to fix the toner image transferred onto the sheet member, a driving apparatus used as a driving unit of at least one of the intermediate transfer unit and the fixation unit; the driving apparatus comprising: a driving unit; a driven unit driven by the driving unit; a driving control unit configured to control the driving unit by performing feed-forward control based on feed-forward target data determined in advance to reduce a speed change of the driven unit, wherein the speed change of the driven unit is expressed substantially as a positive half cycle of a sinusoidal waveform having an amplitude and a time duration, and the feed-forward target data is calculated from the amplitude and the time duration to represent a rectangular waveform approximating the positive half cycle of the sinusoidal waveform.