The only one I know of is available only in German. It's called "Geschichte des deutschen U-bootbaus" (history of german u-boot construction) by Eberhard Rössler . Actually these are 2 books, with the first one covering the the timeline from the earliest antique designs till WW2. The author is an engineer so the books are written from a very technical point of view, many great desgin pictures are included. It's a great book, which comes with over a dozen fold-out plans - mostly from the 40's.
The book is out of print, if you are really interested in the book I'd look for it at ebay.de or german amazon. At amazon.com I found it for the bargain price of 328$
- it goes for 15-20€ here.