This paper set the roots for the "Waterfall" model. Although Royce didn't mentioned the word "waterfall" in it, his methodology became later known for it because of the layout of the boxes in his diagrams which looked like stones in a waterfall (Figure G.2)
Royce improved the nine phase stage-wise model of Benington by adding explicit feedback loops (Figure G.3) and by introducing the concept of what is now known as prototyping.
The grey boxes in Figure G.2 illustrate what Royce called "Do it twice" which foresaw the concept of prototyping:
"If the computer program in question is being developed for the first time, arrange matter so that the version finally delivered to the customer for operational deployment is actually the second version insofar as critical design/operation areas are concerned. Figure 7 (here G.3) illustrates how this might be carried out by means of a simulation. Note that it is simply the entire process done in miniature, to a time scale that is relatively small with respect to the overall effort. The nature of this effort can vary widely depending primarily on the overall time scale and the nature of the critical problem areas to be modeled".
Actually, Royce described "feedback loops" as the ideal circumstance when there is iteration with the preceding and succeeding steps: "At any point in the design process after the requirement analysis is completed there exists a form and closeup baseline to which to return in the event of unforeseen design difficulties. What we have is an effective fallback position that tends to maximize the extend of early work that is salvageable and preserved".
In most of the publications, the waterfall model is claimed to be inefficient because of the lack of feedback loops. Surprisingly, they were explicitly considered in the original model of Royce. Moore /Moore, 1998/ justifies this situation for the reason that managers were persuaded by the name "waterfall" that, just as water never goes up, a software component should never move backward in the life cycle. They based on the premise that each step should be performed right the at first time ignoring the work of Royce.