Check out Incremental Commitment Spiral Model by Glen B. Alleman. Here is an excerpt:
The Incremental Commit Spiral Model provides an iterative and incremental framework for complex software intensive system of systems.
This model has it’s roots in the Iterative and Incremental Development (IID) methods in use since the mid-1970’s.
It’s a popular misconception of the agile…
The full article is available here.