Abstract This paper investigates the problem of adaptive robust simultaneous stabilization (ARSS) of two dissipative Hamiltonian systems (DHSs), and proposes a number of results on the controller parameterization design. Firstly, an adaptive H∞ control design approach is presented by using the dissipative Hamiltonian structural for the case that there are both external disturbances and parametric uncertainties in two DHSs. Secondly, an algorithm for solving tuning parameters of the controller is proposed using symbolic computation. The proposed controller parameterization method avoids solving Hamilton-Jacobi-Issacs (HJI) equations and the obtained controller is easier as compared to some existing ones. Finally, an illustrative example is presented to show that the ARSS controller obtained in this paper works very well.