A printing system and method using alternating control modes for one or more, but not all, sheet transport devices in order to avoid contention. In a printer having first, second and third sheet transport devices in series (e.g., registration, image transfer and image fixing devices), the second device can always operate in a velocity control mode. However, the first and/or third devices can alternate between velocity and torque control modes. For example, the first device can operate in a torque control mode, when a sheet is concurrently engaged by both the first and second devices, and in a velocity control mode at other times. Additionally or alternatively, the third device can operate in a torque control mode, when a sheet is concurrently engaged by both the second and third devices, and in a velocity control mode at other times. Transition control modes can be implemented to generate smooth transitions between modes.