In this article we are going to develop a dynamic programming algorithm Hyrvstyk (HDP) based on the value-repeat run, with the goal of optimal control problem can be solved in time for nonlinear systems duplicate. First, a detailed proof of the convergence of the algorithm will provide HDP. Second, sustainability issues related to HDP algorithms for nonlinear systems will also be examined. It is believed that the main disadvantage of HDP algorithm is that only a limited function of the control sequence repetition can be established, and therefore Mvrdajra repetitions will be unlimited. To verify this, we will provide a stable result new HDP algorithm that indicates that duplicate control laws resulting in the limited reps can guarantee the closed loop stability. A stable result obtained is similar to discrete time nonlinear systems.

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