Condominiums and planned communities are creatures of real estate law, and their authority can almost always be found in deed restrictions recorded at your county Recorder of Deeds.
These deed restrictions are usually known as either a Declaration of Condominium or a Declaration of Covenants, Conditions & Restrictions. Each association will also have a set of Bylaws, which controls the organization operates and Rules & Regulations.
In Pennsylvania, there are also state statutes which help guide association, such as the Uniform Condominium Act and the Uniform Planned Community Act (for homeowner associations and PUD's).