There are several programs out there, commercial as well as freeware, that do exactly what you have asked for in your e-mail.
I have tried DVDx 2.1, TMPEnc, and Vidomi, with somewhat different results. The major difficulty I have experienced is on how to specify their settings in ordert to get good results.
Anyway, to get back to your question, try this site:
http://www.doom9.org/. They give all sorts of free info on DVD and CD reproduction.
There is also a commercial site (www.vdsmoke.com) which sells instructions for removing the trial-and-error work from copying DVDs onto CDs. I bought their instructions, and so far they seem to deliver what they claim. The DVD copies I have generated, following their advise, are really good. And you will be using Freeware software.