There's no way I'm aware of that will allow you to make the conversion without losing your chapters but the best converter I know is part of
MPEG2 Works 4 (bottom of the vob tab).
You'd first need to rip/convert the VIDEO_TS folder to a single VOB using something like
0SEx (select Prog. streams output format).
If DVDSP accepts MPEG2 then the best application to use for that purpose would be
MPEG Streamclip. Open any of the VOB's with it and it'll offer you the choice of opening the whole set. Accept and then select whichever MPEG2 output format you require from the File menu.
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