Then every major project I've worked on as a professional. Iterative (or processes incorporating regular V&V feedback loops) projects have almost all been successes. Almost always on time, on budget; if they were delayed it was almost always an external factor (hardware unavailable, hardware was available but wrong, requirements changed mid-project). The BDUF with minimal feedback loops have almost all been late if they were of any significant size, sometimes with significant multi-year, multi-million (approaching billion) dollar overruns.
The main thing I've learned, plans are not commitments. They are useful and maybe even essential, but you must incorporate real-world results into the process and update the plans (potentially totally scrapping them) as you gain insights. Iterative development is just an acknowledgement of this.
On smaller projects, you can possibly create the perfect plan. In a domain you know well you may succeed with somewhat larger projects. But major projects rarely succeed by starting from a perfect plan and committing, because the plan will almost never be perfect. More likely, they succeed despite that "perfect" plan because unofficial feedback loops develop, even if they're not officially acknowledged in any discussions or write-ups about the effort.