I've cooked for my dogs for years. It's not rocket science people... You cook for your families without agonizing over portion control and other balancing acts for a perfectly balanced diet.
I use a simple rule of thumb. They are dogs, so the first 60% of their food should be protein. Then 40% should be carbohydrates for energy and the rest vegetables and fruit.
I use either chicken breast, chicken liver, eggs and canned salmon for their meat sources. You can use beef but I find that they don't do as well on the beef liver as they do on the chicken livers, I think it's too rich.
Carbohydrates includes either rice(brown or white), oat meal, white potato, sweet potato and once in a while pasta . I usually use the old fashioned oats that I have to cook, but have also used the one minute oats in thier raw state if I can't take the time to cook everything and cool it properly before I combine the ingredients.
All of the vegetables are either fresh or fresh frozen. I thaw them but do not cook either vegetables or fruit so that they retain Vitamin C.
My kids really love banana, apple, pear and pineapple. Along with green beans, peas, brocolli, cauliflower, spinach and carrots.
I select the variety according to what I have in the house at the time I cook a batch of food for them. Usually I have everything but like to change their tastes a little with each batch. One of the secrets I have found is to cook up a batch big enough to last no more than three days and store it in a container in the refrigerator. This allows me to plan ahead and the food doesn't have a chance to spoil before it's used. One can always freeze it in individual pouches and only take out as much as is needed for a day's food, but I found that it was just as easy for me to keep a large container in the refrigerator and that way if I forgot to remove the food from the freezer I don't have to nuke it...
As far as portion control. Watch your dog, if he's gaining weight back off on the amount you feed, if he's losing weight, then increase his portions.
Happy cooking!
Hugs
Judy