There are plenty of medications that have generic form.  However, every type of medication is different, your particular medication may not come in generic form yet.  If it is working really well, it may not be wise to try and change.  Strangely, sometimes different sizes of the same medication may or may not come in generic form.  For instance, a 150mg pill may come in generic but the 300mg size does not.  In this case, it may be cheaper to ask for two 150mg pills a day instead of the one 300mg.  Do some research online about Abilify first, I think it's pretty new though, to see if different sizes are generic.  If not you can ask the doctor if there may be a cheaper better alternative (don't push it though because your daughter may be on the best medication for her).

Lastly, some medications are cheaper than their generic versions or similar medications so don't just ask if they are available in generic form.