I am delighted to share some titles with you about the history & aesthetics of African music in general, and of West African music in particular. I'm sorry, but I have no books or knowledge of books that specifically focus on the history & aesthetics of North African music. {There is a chapter on Central African music in the one of the books I am suggesting that you consider reading}.
General overview: Francis Bebey, "African Music, A People's Art" {Brooklyn, N.Y, Laurence Hill Books, originally published 1969; English translation 1975 Josephine Bennet}
This author appears to be highly regarded and pasages from this slim book is quoted in a number of books..The cover has this summary "African music-it's forms, musicians, instruments, and it's place in the life of the people. Profusely illustrated, excellent discography..
Warren L. d' Azevedo, editor, "The Traditional Artist In African Societies", Bloomington & London,Indiana University Press, 1973}
I just got this book from a used book store {Love them places!!}
This book is about African art {not just music} and appears to be full of interesting information. Chapters on music include: The Musician in Akan Society by J.H. Kwabena Nketia {the writer is from that society; the Akan people are from Ghana and The Ivory Coast}
There are also chapters on The Hausas {Northern Nigeria, a Muslim culture; and The Balas {The Congo-Kinshasa; formerly Zaire}.
Books on specific cultures: John Miller Chernoff, "African Rhythm and African Sensibility, Aesthetic and Social Action in African Musical Idioms",Chicago, University of Chicago Press, 1979
This book provides an account of the author's experiences with drummers who are part of the Dagbani culture of Ghana.
Samuel Charters "The Roots of the Blues: A Search" {Boston, Marion Boyars, 1981
This book provides an account of the author's experiences with Jalis{griots} and other musicians of The Gambia.
[It is amazing that both of these authors-who happen to be White males-have a Pittsburgh, Pa connection. Pittsburgh is the city that I've lived in for the last 35 years. Samuel Charters was born in Pittsburgh, and John Miller Chernoff {who I have met & heard drum} still lives here.