BDLot DVD ISO Master is a free program designed to decrypt dvds and output as ISO files. The program offers support for dvds protected by CSS and more advanced encryption techniques.
ISO Master has a burning section included, so you can burn your ISO files to disks. There is also a built-in virtual drive, which can be used to mount ISO image files.
BDLot DVD ISO Master does not offer compression of dvds, but the ISO's produced can be used in other programs, like DVDShrink.
One member of our forums has tested BDLot DVD ISO Master with DVD-A disks (DVD Audio) and reports that this program can produce perfect copies of that encrypted format.
Current version is 3.0, released October 25, 2011. You can download it from this site: http://www.bdlot.com/dvd-iso-master/