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Deanna Troi once visited Rastaban III. On this world, Troi viewed a performance of the royal pantomime. One of the actors' masks had come off, and she ended up looking into the face of a cruelly beaten, humiliated slave. (TNGnovel: Gulliver's Fugitives)
It was not alluded to whether this was a Federation world, but the reference to slavery in the service of royalty would seem to preclude this, making it probable this planet was outside of Federation space and jurisdiction.