Madagascar DVD uses the new Macrovision RipGuard software to try to prevent copying, well it fails miserably. The disc also uses the following:
Wrong DVD structure!
Macrovision RipGuard protection!
2 bad sector protections!
I simply used CloneDVD2 and ANYdvd, but with RipGuard you have to choose a lower burning speed otherwise you get a coaster. Only choose 4x otherwise CloneDVD2 shows a Media Write Error at 50% while writing and bombs out.