Although we only have one long garden bed, I wonder if we can still apply the crop rotation principles and not plant in same area twice in a row? Might be worth experimenting with anyhow.
I like the overview provided on the Gardening Australia website - ideal for four garden beds if you have such a set up. We also tried to rotate our beds when in Canberra, so will revisit some ideas from our successes (and failures!) there. This guide from Harvest to Table is also useful (and mentions that no garden is too small for crop rotation!).
Companion planting is also a good method for gardening and this guide is a good overview if you are interested in trying out the method, as is this guide.
More on that later; until then, happy gardening!