"The Design Philosophy of the DARPA Internet Protocols" is what you are looking for →
http://ccr.sigcomm.org/archive/1995/jan95/ccr-9501-clark.pdf
Excellent summary of the same by Adrian Colyer →
https://blog.acolyer.org/2015/01/22/the-design-philosophy-of...
You can also read "The Innovators" by Walter Isaacson to get acquainted with how it gained momentum.