This study addresses the problem of Padé-approximation-based optimal preview repetitive control (POPRC) with equivalent-input-disturbance (EID) for continuous-time uncertain systems. The key contributions are: 1. **State-Space Representation**: Using the Padé-approximation method, a delay-free state-space representation of the modified repetitive control (MRC) system is constructed, enhancing the controllability and observability conditions of the linear quadratic regulator (LQR) theory. 2. **Augmented Dynamic System**: An augmented dynamic system incorporating the output of the MRC system is established. The regulator problem for this augmented system is solved, leading to the derivation of the optimal PRC law for the original system. 3. **Active Disturbance Rejection**: The feedback control is improved by integrating an active disturbance rejection (ADR) part, making the analysis and design of the system more straightforward. The study also proves the stability of the overall control system using the small-gain theorem and demonstrates the effectiveness and robustness of the controller through simulation results. The paper is organized into sections covering problem formulation, main results, numerical simulations, and conclusions.This study addresses the problem of Padé-approximation-based optimal preview repetitive control (POPRC) with equivalent-input-disturbance (EID) for continuous-time uncertain systems. The key contributions are: 1. **State-Space Representation**: Using the Padé-approximation method, a delay-free state-space representation of the modified repetitive control (MRC) system is constructed, enhancing the controllability and observability conditions of the linear quadratic regulator (LQR) theory. 2. **Augmented Dynamic System**: An augmented dynamic system incorporating the output of the MRC system is established. The regulator problem for this augmented system is solved, leading to the derivation of the optimal PRC law for the original system. 3. **Active Disturbance Rejection**: The feedback control is improved by integrating an active disturbance rejection (ADR) part, making the analysis and design of the system more straightforward. The study also proves the stability of the overall control system using the small-gain theorem and demonstrates the effectiveness and robustness of the controller through simulation results. The paper is organized into sections covering problem formulation, main results, numerical simulations, and conclusions.