In various embodiments, an injector control system may be configured to control a needle-free injector to inject fluid injectate to a desired penetration depth. The injection control system may also be configured to receive injection performance data and use the injection performance data to make further adjustments to the needle-free injector. In various embodiments, the needle-free injector may be configured to be adjustable according to either an injection pressure and/or a nozzle orifice diameter in order to achieve injection at the desired penetration depth. In various embodiments, the needle-free injector may be configured to inject the fluid injectate according to a combined injection relationship that is both substantially linear between the adjusted pressure and the desired penetration depth and between the nozzle orifice diameter and the desired penetration depth. Other embodiments may be described and claimed.
