This　paper　develops　a　novel　value　iteration　(VI)　scheme　and　an　online　VI　algorithm,　to　address　the　discounted　optimal　control　problems　of　affine　discrete-time　nonlinear　systems.　First,　we　provide　the　derivation　of　the　novel　VI.　Second,　we　analyze　the　convergence　and　monotonicity　of　the　iterative　value　function　sequence,　as　well　as　the　admissibility　of　the　iterative　control.　Third,　based　on　the　theory　of　the　attraction　domain　and　the　novel　VI　scheme,　an　online　VI　algorithm　is　proposed　to　implement　the　stability　analysis　of　the　controlled　system.　It　is　worth　noting　that　the　current　control　during　the　online　control　stage　is　determined　by　the　location　of　the　current　state.　Finally,　a　simulation　example　is　involved　to　demonstrate　the　performance　of　the　developed　algorithms.