RPS systems are usually the first balanced combat design one learns about when learning about game design. However, IMO, it's too simple for anything but a very short game, and isn't necessary if the game has enough competing dynamics to mean that A doesn't always beat B in various situations.
I think your misunderstanding lusted here.

What he and others are saying is that the base point should be RPS, i.e. you build it on RPS. Then start adding things like the Hoplite/Hastati thing you mentioned. Add enough littile extras like that on and eventually they become more important than the RS balance which quickly ceases to have more than minor effects any more.

Some games can work well without RPS as a starting point, and occasionly those that do work best with the RPS starting point can get by without it. Most attempts that don't use RPS as a starting point that i've seen though tend to fail as good games.

Thus thats all i think Lusted means. They should start with RPS and build up from their, give themselves the most basic foundadtion level to work from.