An image forming apparatus includes an image carrier, an image carrier driver which rotates the image carrier, a rotation detector which detects rotation of the image carrier, a rotary member in contact with the image carrier, a rotary member driver which rotates the rotary member, a first controller which controls the rotary member driver, and a second controller. The second controller controls the image carrier driver based on an output of the rotation detector and also controls the image carrier driver in a manner which attenuates a fluctuation component at a specific frequency. When the first controller changes a surface velocity of the rotary member, the second controller controls the image carrier driver in a manner that attenuates a fluctuation component at a specific frequency related to the changed surface velocity of the rotary member.