Then I think Crimson Gem Saga is what you are looking for.
Story is interesting, there are no random encounters - you see all enemies on screen and if they don't see you when you engage them you get a surprise attack (it can happen to you also), there is some grinding but most enemies can be overcome by exploiting weaknesses, each character has skill trees and there are "team" skills which require parts of your team to perform a combo move.
I think with these games you have and CGS you are set to play on PSP for a long time.
Edit: There's also remake of Persona 3 (I think it's called Persona 3 Portable). I'm not sure if it's out yet in English but I've heard it's a great remake.
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