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Synchronous mode-locking was achieved in passively mode-locked semiconductor lasers using optical pulses with repetition rates at subharmonics of the cavity round-trip frequency. Stable and continuous mode-locked pulses at 8.5 GHz were generated when the repetition rate of the control optical pulses was 4.25 GHz (2nd subharmonic). The timing jitter of the mode-locked pulses was reduced to 1 ps. The relationship between repetition rates of the control pulses and the realization of stable and continuous mode-locking was examined.