An injector is designed to provide continuously variable injection rate shaping. With a hydro-mechanical internal feedback mechanism, injector needle position can be determined by controlling a feedback valve's on/off timing. According to the needle position, an injection needle valve opening can be controlled, and then the injection flow rate can be delivered proportionally. Also in accordance with the present invention a CRDI systems are provided including injectors of the present invention, wherein results demonstrate that injector designs of the present invention not only achieve rate shaping capability but also solve the above-noted problems of the current CRDI system. Finally, an iterative learning controller has also been developed to track the desired injection rate, and an injection rate estimator is designed to realize a cycle to cycle feedback control.