Royce70 was misinterpreted.
Royce 1970 was widely credited with inventing what later came to be called the “waterfall model of software development.” As Laurent Bossavit points out in his 2013 book, *Leprechauns of Software Engineering 
*, that’s bitterly ironic, because Royce’s paper says that while the as-yet-unnamed waterfall model is quote “fundamentally sound,” it is also quote “simplistic and invites failure.” Because of that, his paper quote “presents five additional features that must be added to this basic approach to eliminate most of the development risks.” His actual model was considerably more complicated than waterfall, and advocated for both iteration and a kind of rapid prototyping. And all that got ignored.
There’s an internet meme where a tech company announces their new product, “the Torment Nexus,” inspired by the classic science fiction novel “Don’t Create the Torment Nexus.” Royce is that poor forgotten classic author.