High Level Flowchart, All Components
This shows the three main process partitions: Initial Stage, Release Cycle and Iteration Cycle. Note how testing failures cause rentry into Analysis, whether due to release or iteration testing. The final iteration of a release handles Final Testing failures.
An iteration test can be testing a prototype, experiment or other forms of risk reduction. This occurs frequently in all but trivial development. One expects to fail often. The flowchart gives such failures a clear place to go, preserving the smooth running process. Analysis and design are where learning due to failure feedback occurs.
Upon this simple diagram can be tacked the components needed for a particular project's process.