This paper is concerned with the problem of position tracking control for the motor-driven gear-shift actuating mechanism for electro-mechanical automated manual transmissions (AMT). It is well known that torque interruption is an inherent flaw of AMT. As shift duration directly affects the torque interruption interval, shift quality can be improved by minimizing the duration of the shift. To realize rapid and precise gear-shift control, an optimal discrete-time preview position control scheme is proposed. The proposed control scheme consists of state-feedback control, a discrete integrator, and preview feed-forward control. Instead of the traditional difference method, the state transformation method is utilized to construct the augmented error system such that the augmented system can be kept in a simple form. The H∞ performance index is employed to reduce the effect of the shifting load disturbance during the gear-shifting process. The controller gains are obtained by solving a linear matrix inequality (LMI). Simulation and test bench results all show that the proposed preview control algorithm has better dynamic response and adaptability under different loads compared to the optimal linear quadratic regulator (LQR) controller and the standard PID controller.