It rips what you want into whatever format you want. I've tried quite a number of DVD rippers and this is the only one I've found that doesn't make the motion jerky. It is also the only one (as far as I know) that can handle PAL DVDs and 16:9 aspect DVDs. I use their DVD Audio ripper as well.
DVD Decrypter in IFO Mode - you can choose by prog chain and chapter - free
CloneDVD - - also by chapter- added advantage of preview --
Womble MPEG Video Wizard - rip from any frame to any frame your heart desires
VirtualDub Mod - ditto - -but sometimes more sluggish - free
TMPGenc Express should to it too I believe
Imtoo is not free - nor can it rip many types of disks ... it does work ok though, but better free tools out there ...
DVDecrypter handles pal and all aspect ratios of course, as well as all types of disks and demux streams. - not sure where you heard that it can not do pal etc ..
btw - Imtoo code was ripped off DVDx and as such it is the same program - same errors even in the help files ..