It's rather the same way the moon orbits the earth. If you have a binary system, a planet can quite happily orbit very close to one of the two stars so long as the distance between the planet and the star it orbits is smaller than the distance between stars. The pair of stars will orbit their mutual center of mass, and the planet will orbit a single star.
Of course, the three body problem is an open question in physics, but if you make the assumption that one of the masses is much smaller than the other two it (which is the case for planets orbiting stars) it becomes quite solvable, especially if you're happy with numerical simulations of orbits.
A similar situation is possible if the planet is a long way from the pair of stars, and would then orbit their center of mass. That isn't the case here, but is certainly a feasible solution to the problem. You only really get orbits that are highly erratic when the planets orbital radius is over a quarter of the distance between the stars.
Throughout this I've assumed equal mass stars. Feel free to put a factor of M1/M2 in front of every distance I gave for non-equal mass stars.
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