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Johannes Bogerman, president of the Synod of Dort, wrote the first draft, which was then amended by the Drafting Committee consisting of 9 members:
The committee held meetings over 3 weeks and produced 3 committee drafts which were reviewed and debated by several delegates from different countries. The final conclusion draft was read publicly on April 20 and then debated and negotiated until the final form was reached on 23 April 1619 at 10 PM. The whole process took about 4 weeks.
This answer is based on a paper The Drafting Of The Canons Of Dordt: A Preliminary Survey Of Early Drafts And Related Documents published 2011 in the Brill's Series in Church History Volume 49 Revisiting the Synod of Dordt (1618-1619), written by Trinity Christian College theology professor (emeritus) Donald Sinnema. Prof. Sinnema reconstructed the drafting timeline based on his preliminary examination of 5 main repositories of more than one hundred archival documents, some multiple copies. The first 8 pages of the paper are available here.
Another paper by Prof. Sinnema published in the same book: The Canons of Dordt: From Judgment on Arminianism to Confessional Standard has the following quotes (emphasis mine):
From 6 to 21 March the Synod was occupied with reading the judicia of the nineteen delegations on the Five Articles. Following the earlier instructions of Bogerman, these judicia all consisted of positive statements expressing the orthodox Reformed view as well as a rejection of Remonstrant errors. ...
When all the judicia had been read, president Bogerman noted that the States General "did expect that the Canons should be made" by Easter, ten days away.²⁸ He then proposed that "the synodical judgment (judicium Synodicum) should now be formed from all of them [the judicia] compared with each other:' For that purpose, he informed the Synod, he had drafted "some Canons" from these judicia, to which the delegations might suggest amendments.²⁹
The next day, 22 March, Bogerman presented his views on the form of the proposed Canons. "The order and style of these canons ought to be directed to the instruction of these churches:' They should be proposed simply, but not meagerly, "so that the Canons may not be scholastic or academic, but ecclesiastical:' On the question whether the heterodox or orthodox section should be first, Bogerman thought that "the doctrine of the truth is to be placed first because it is by nature prior:'³⁰ The English Bishop Carleton also gave advice on how the Canons should be formed. He too recommended that the affirmative view be placed first, then the negative, and that "the style of the Canons be popular, not scholastic:'³¹ The same day Bogerman dictated to the Synod the "Canons" he had drafted on Articles One and Two. ³² Since these consisted of positive "articles" and a rejection of errors, it is apparent that here the term "Canons" referred to the whole document. ³³
This procedure immediately aroused the complaint of some foreign theologians that Bogerman intended to draw up the Canons by himself and merely dictate them to the Synod for its consent.³⁴ To resolve the discontent the civil delegates on 25 March advised that some foreign and Dutch theologians work with the president and the assessors to draft the Canons. The Synod approved this advice and appointed a drafting committee of nine.³⁵
For about three weeks the Synod did not officially meet while the drafting committee was at work. Working from Bogerman's draft the committee prepared its own draft of the Canons, which it revised twice, before coming up with the final version of the Canons. After receiving the Bogerman draft and each of the three committee drafts, the various delegations had an opportunity to suggest amendments.³⁶
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On 16, 18, and 23 April the full Synod after some final changes approved the final version of the Canons.⁴² Then on the 23rd three copies were signed by all delegates. ...