Hi,
You need to turn on iCloud Music Library within iTunes on the computer where you have your ripped music. You will need iTunes 12.2.0 to be able to do this. Once this is done, iTunes will match or upload your ripped songs to the iCloud and it will be available across all your devices (as long as iCloud Music Library is enabled on these devices as well). Hope this helps!
PS: Ehile I have not yet tried this, I believe you cannot transfer the ripped music from your library to the phone through iTunes if iCloud Music Library is enabled on the phone. Instead you will need to download the songs directly on the phone itself from the iCloud over the internet. That is the way it worked for iTunes Match and I guess the iCloud Music Library works the same way.