I found Karl Weick's organizing theory (a company is not a form but a process) and organization improvisation support Holacracy practice.  People accept that improvisation is important but do not know how to practice it.  Holacracy provides a practical solution.     

Weick, K. E. (1998). Introductory essay—Improvisation as a mindset for organizational analysis. Organization science, 9(5), 543-555.

Weick, K. E. (1979). The social psychology of organizing (Topics in social psychology series).