We investigate an unconventional symmetry in time-periodically driven systems, the Floquet dynamical symmetry (FDS). Unlike the usual symmetries, the FDS gives symmetry sectors that are equidistant in the Floquet spectrum and protects quantum coherence between them from dissipation and dephasing, leading to two kinds of time crystals: the discrete time crystal and discrete time quasicrystal that have different periodicity in time. We show that these time crystals appear in the Bose- and Fermi-Hubbard models under ac fields and their periodicity can be tuned only by adjusting the strength of the field. These time crystals arise only from the FDS and thus appear in both dissipative and isolated systems and in the presence of disorder as long as the FDS is respected. We discuss their experimental realizations in cold atom experiments and generalization to the SU($N$)-symmetric Hubbard models.
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