There is a nice article on PolishLinux that explains the process of ripping and encoding and also lists the tools that can be used on Linux to convert CDs to your desired encoding.
The article talks about the following:
Encoders
1. Lame for MP3
2. OGG-Vorbis - oggenc
Rippers
1. cdstatus
2. cdparanoia
3. abcde
4. ripperX
5. sound-juicer, Grip
6. k3b
