I have that book too. I refer to it once a year - before I come up with each year's desing/layout, because I forget some stuff.

The only thing I remember and heard repeated in many sources is "come up with 3 year rotation plan" - that means plant "A" planted in bed "1" in 2009 cannot be planted in the same bed until 2011. Only one source suggested 4 year rotation cycle. So my plan is to have at least 3 large beds and come up with rotation plan for 3 years. With ten beds you should have no problem for rotating - just keep record of each year's layout.

This person has 6 categories that he suggests rotating and suggests 3-5 6 year rotation plan
"Rotate these groups so vegetables from one group are not planted in the same location more than once every 3 to 5 years."
http://www.tinkersgardens.com/vegetables/croprotation.asp