Get used to work with Handbrake, because it is multiplatform, so you'll be able to use it on Mac, Windows and Linux.
You can choose any video format as input. It supports any kind of DVd, no matter if it is protected or not. It also supports VOB and TS. The output formats are a lot: MP4, MKV, AVI or OGM, and it takes advantage of MPEG-4 and H.26 codecs.
Choose the chapters, basic support for subtitles and some styles make Handbrake to be essential if you want to convert DVD into MPG.