The Roman Guide to Slave Management: A Treatise by Nobleman Marcus Sidonius Falx by Jerry Toner (nonfiction 2014)

Sometimes when authors try to summarize thousands of years' and millions of people's experiences, it gets muddy, but this is really good.  The format of the book sees Toner take on a persona of a Roman nobleman, then give analysis in his own voice at the end of each chapter.  It works because the explanations do explain without being long-winded, and Toner gives references to multiple primary sources.