"Today a usual technique is to make a program and then to test it. But: program testing can be a very effective way to show the presence of bugs, but it is hopelessly inadequate for showing their absence. The only effective way to raise the confidence level of a program significantly is to give a convincing proof of its correctness."
"Beware of bugs in the above code; I have only proved it correct, not tried it."
For example, the Single Responsibility Principle (SRP) is primarily concerned with making software more manageable on both an individual and team basis. How? By minimizing:
1. Communication overhead between teams/modules
2. Information overload in an individual
You could look at #1 from a graph-theoretic and information basis. I'm sure there are many interesting things to prove there. Like Amdahl's and the opposite of Metcalfe's Law [1][2] applied to team/communication/module dependencies. Just as a basic example, if one class has 10 responsibilities shared by 10 engineers with no boundaries specified, then the probability of conflict and unintended consequences rises. Thus the rate of development slows.
As for #2, applying more rigor and proof to the question of how these principles help a human understand quicker.
I don't have the necessary background right now to explore this in more detail, but like you, I'm very interested in any possible formulations.
I am not a full subscriber to SOLID. I think it promotes a certain kind of degenerate over-abstraction that leads to bugs of a different nature, premature decisions on what needs future substitution, and decreases agility in the medium term.