I do not advocate the misuse of media and piracy. My personal belief is if you bought the DVD you have a right to put it in any player you want. Which means that if said player requires a different format then you should be able to convert the DVD into that format ;)?
Having said so there are 2 formats I use which covers all my devices. For the PS3 I have it in DivX for the IPhone H.264.
On windows I run DVD Decrypter to convert the DVD into one Humungous ISO file. Here is a link for a description on the entire process http://www.mrbass.org/dvdrip/. I suggest you search for a later version of the exe
Dr. DivX http://sourceforge.net/projects/drdivx/ :
Using the result of DVD Decrypter you can load the ISO file and convert it to DivX
From the ISO you can run feed it to this and produce an H.264 file to be loaded into iTunes for your iPhone or for your Apple TV. Also if you wish to skip the Decoding process you can just load your DVD and handbrake will do the rest.
Coming soon will be a discussion on storing all these movies in a Linux Server and streaming them to your PS3.