You can select 4 different ports for each one of your FTP servers, for example 2112,2113,2114,2115 and then create port forwarding (NAT) rules in your firewall like so:
iptables -A PREROUTING -t nat -i eth1 -p tcp --dport 2112 -j DNAT --to 192.168.1.2:21
iptables -A FORWARD -p tcp -m state --state NEW --dport 2112 -i eth1 -j ACCEPT
iptables -A PREROUTING -t nat -i eth1 -p tcp --dport 2113 -j DNAT --to 192.168.1.3:21
iptables -A FORWARD -p tcp -m state --state NEW --dport 2113 -i eth1 -j ACCEPT
iptables -A PREROUTING -t nat -i eth1 -p tcp --dport 2114 -j DNAT --to 192.168.1.4:21
iptables -A FORWARD -p tcp -m state --state NEW --dport 2114 -i eth1 -j ACCEPT
iptables -A PREROUTING -t nat -i eth1 -p tcp --dport 2115 -j DNAT --to 192.168.1.5:21
iptables -A FORWARD -p tcp -m state --state NEW --dport 2115 -i eth1 -j ACCEPT
In this way, the incoming ftp connections will be redirected based on the port used to the correct servers.