I cook for my dogs.
10 pounds raw weight meat, 2 cups of grain, whatever veggies I have on hand, and usually fruit. All cooked together like stew. Meat, grain, veggies differ with each batch.
There is a book on home cooked diets, written by a PHd, DMV, professor who specializes in nutrition at one of the better universities. I don't have it readily to hand to look and see what it is called. Something like Home Cooked Diets for Dogs and Cats. Maybe the author's name will come to me. It's well worth the money, if you plan on cooking for your dogs.
He recommends a crushed children's multivitamin pill, if you are worried about vitamins.
If you feed home cooked with good quality meat, the amount that you feed your dogs is miniscule compared to the volume of kibble that you are used to feeding. I added up all the calories, looked up how many calories my dogs should be eating, and my Papillons stay in good weight at 1 Tablespoon of food fed twice a day. (2 T total for the day). It sure doesn't look like much, but if I increase it, they get fat.
Edit; I like to use pumpkin or sweet potato for the carb component, when I can get it, instead of the grain.