Abstract: A novel method for adaptive Nonlinear Model Predictive Control (NMPC) of multiple input, multiple output (MIMO) systems, called Sampling Based Model Predictive Control (SBMPC) that has the ability to enforce hard constraints on the system inputs and states. However, unlike other NMPC methods, it does not rely on linearizing the system or gradient based optimization. Instead, it discretizes the input space to the model via pseudo-random sampling and feeds the sampled inputs through the nonlinear plant, hence producing a graph for which an optimal path can be found using an efficient graph search method.