A room temperature acid presoaking process with high mixing performance was developed to enhance the acid-catalyzed steam explosion pretreatment efficiency. The impact of the operational parameters of presoaking, such as presoaking time, acid concentration and acid solution recycling, on the acid-catalyzed pretreatment of rice straw, bagasse and wood chip was studied. Bench-scale investigations show that the maximum saccharification yields after acid-catalyzed steam explosion of rice straw, bagasse and wood chip were 90.8%, 81.1% and 80.3%, corresponding to 535, 536 and 537 kg sugar/ton of dry raw material, respectively. According to the results, the estimated operating costs of sugar production from high to low are 0.388, 0.378 and 0.314 US $/kg sugar for rice straw, sugarcane bagasse and wood chip, respectively. The results indicate that the recyclable and continuous pilot-scale presoaking system with reliable acid uptake control shows high potential for producing sugar from different lignocellulosic biomass.