Don't think breeding humans in ancient times would have worked.But as others have mentioned,an invented religion for slaves,with a karma rebirth as a master for being compliant in this life,combined with a basic slave language with narrow worldview might work.But if you've got personal slaves,then throw that all out,because they've got to communicate with each other.A vast isolated workforce for mining,agriculture,manufacturing,like the gulags of USSR,North Korea and China is about as close as I think you could get.