How did we derive the relation between the isoelectric pH and the dissociation constants for the amino and carboxyl groups on zwitterionic amino acids.
$$pI=\frac {pK_{a1}+pK_{a2}}{2}$$ where $$\ce{NH3^+-R2(COO^{-})<=>NH3^+-R2(COOH)-K_{a1}}$$ $$\ce{NH3^+-R2(COO^{-})<=>NH2-R2(COO^{-})-K_{a2}}$$
For more complicated cases (charged side groups) and their isoelectric pH, here is one site which just posts the equations without any derivation. Besides this, there is no reference I could find for this derivation.