This is a fairly advanced method but as it is all-digital transfers you will get the best quality out of it.

Use DVD Decrypter to demux the audio and split it by chapter.

Use BeSweet to decode the AC3 files you will get into WAVs.

Use any audio CD creating program to put the WAVs onto a CD (make sure it is set to not create any gaps between tracks).

You may not fit a whole concert onto one CD.