[beaconstudios]

But we do have a science of organisation design; management cybernetics are 70 years old, and as this post hints at, the field of complex systems theory (also 70) applies to organisations. But these fields don't find context-independent answers like the one you asked for; an extremely important trait of systems engineering (as, again, was mentioned in the post under "form-context fit") is that systems have fitness for a specific environment or context. Answers are adaptive and must be approached in-context, not declared to be canon in some "objective" scientific whitepaper.

If it's math you're after, look at Control Theory or Nonlinear Dynamics. They work well for engineering purposes, but good luck modelling individual human behaviour accurately, let alone mathematically.