In　this　paper,　a　novel　online　control　framework　is　constructed　to　address　the　optimal　regulation　problem　for　nonlinear　systems.　Produced　by　policy　iteration,　the　proposed　algorithm　employs　iterative　policies　to　control　the　system.　To　initialize　the　policy　iteration　process,　the　value　iteration　method　is　used　to　obtain　an　admissible　control　policy.　It　is　shown　that　the　stability　can　be　ensured　via　different　admissible　iterative　policies.　Finally,　a　simulation　example　is　presented　to　demonstrate　the　performance　of　the　developed　scheme.　　©　2023　IEEE.