If I read the paper correctly, the iterative approach considered as wasteful, and two-stage waterfall is recommended instead: documentation and planing at first

If I read the paper correctly, the iterative approach considered as wasteful, and two-stage waterfall is recommended instead: documentation and planing at first stage, to find weak points first, then execution of the plan. IMHO, it was designed for times when computer time was expensive. I did a few projects in waterfall style about 20+ years ago, but my memories are faint. Our PM used a UML modeling tool to model classes and relationships, then exported it into Java. We wrote a lot of useless documentation. I developed a good habit to write documentation immediately, when memory is fresh, to avoid the pain of writing it later.