I'm very sorry to say all those states developed while they were/still are authoritarian. S Korea under Park Chung Hee (dictator) Singapore under Lee Kuan Yew (dictator), China under Deng Xiao Ping (dictator), and Rwanda currently Paul Kigame. We can also add Malaysia under Mahathir Mohamed if we want. Just because the Chinese Communist party holds a sham internal election every 10 years does not make it a democracy.
The experts who study development such as Robert Wade hold that the most efficient state structure for development is an authoritarian one. That's because a lot of tough unpopular decisions need to be made which would be nearly impossible in a democracy.
Now I understand there are a lot of failed dictatorships out there, including Somalia. The difference is, you need an authoritarian, developmental state, not just an authoritarian one. Meles Zenawi's Ethiopia is a local recent good example of such a state. Eritrea is an example of authoritarian state that is not developmental.