You need to replace the adbd binary in the boot.img/sbin/ folder to one that is su capable. You will also have to make some default.prop edits too.
Samsung seems to make this more difficult than other vendors. I have some adbd binaries you can try but it will require the knowledge of de-compiling and re-compiling the boot.img with the new binary. Also, if you have a locked bootloader... this is not gonna happen.
Also Chainfire has an app that will grant adbd root permission in the play store: https://play.google.com/store/apps/details?id=eu.chainfire.adbd&hl=en
Lastly, if you are trying to write a windows script with SU permissions you can do this buy using the following command style... However, you will at least need to grant (on the phone) SU permissions the frist time its ran...
adb shell "su -c ls" <-list working directory with su rights. adb shell "su -c echo anytext > /data/test.file"
These are just some examples. If you state specifically what you are trying to accomplish I may be able to give more specific advice
-scosler