Exploring Operating Systems: Daily OS Explorations
mohitmishra786.github.io
mohitmishra786.github.io
Mach would be another alternative to consider.
I looked into Mach circa 1991, when I had a NeXT. The NeXT OS was based on Mach 2.0 as I recall, perhaps current Darwin docs will help there. I don't have any preferred modern references. Googling for "Mach operating system" pulls up quite a few.