(a) If an order of disposition from a petition alleging abuse or neglect releases a child to the custody of his parents, guardian or other persons responsible for his care, or continues him in such legal custody, the court may place the person having custody of the child, except for representatives of private or public agencies or government departments, under supervision of the Department of Social Welfare. The orders of the court shall define the terms and conditions of protective supervision.
(b) Orders of protective supervision may be enforced by citation to show cause for contempt of court by reason of any violation thereof and, where protection of the welfare of the child so requires, by the issuance of a warrant to take the alleged violator into custody and bring him before the court.