Lenfle, S. (2008). Exploration and project management. International Journal of Project Management, 26(5), 469-478.
Lenfle, S., & Loch, C. (2010). Lost Roots: How Project Management Came to Emphasize Control Over Flexibility and Novelty. California Management Review, 53(1), 32-55.
I find it useful to model complex product development processes.
Although in design research literature this is not the only occurrence.
See: Hubka, V. and Eder,W.E., 1992. Engineering design: general procedural model of engineering design. Berlin: Springer-Verlag.
Spiral model in not the focus of that work but design theory, still if I recall correctly there is a nice 3-D version of it somewhere half way through the book.
As far as I remember, Don Reinertsen had some thoughts related to stage-gates and design flow. Here is a link to his ideas (maybe corresponding to your need - maybe not): http://yow.eventer.com/yow-2012-1012/the-practical-science-of-batch-size-by-don-reinertsen-1269
There are numerous papers arguing that whilst "stage gate" is a useful concept and provides a basis for governance, it should not be viewed as an innovation process. More recent papers have criticised it as too linear. Cooper himself has attempted to defend "stage gate" as never being linear, although if you read his original article it's hard to draw any other conclusion than it's linear. More recent models suggest network