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In this paper, we propose an approach to realize substrate integrated waveguide (SIW)-based leaky-wave antennas (LWAs) supporting continuous beam scanning from backward to forward above the cutoff frequency. First, through phase delay analysis, it was found that SIWs with straight transverse slots support backward and forward radiation of the -order mode with an open-stopband (OSB) in between. Subsequently, by introducing additional longitudinal slots as parallel components, the OSB can be suppressed, leading to continuous beam scanning at least from through broadside to 35°. The proposed method only requires a planar structure and obtains less dispersive beam scanning compared with a composite right/left-handed (CRLH) LWA. Both simulations and measurements verify the intended beam scanning operation while verifying the underlying theory.