Here is how it was taught to me years ago, it still rings fairly true even though the lines are more blurry.
A PLCs is used in machinery to make things, fast and accurately using primarily digital IO with some analog. Think thousands of relays interacting with each other, and a few loop controllers.
A DCS is used in a processing facility to make stuff, consistently and repeatedly using primarily analog IO with some digital. Think thousands of PID loop controllers interacting with each other and a few relays.
A SCADA system watches "big picture" activities happen over a wide area, makes sure it happens safely and that everyone involved knows about it, using stand alone small PLCs or other local loop controllers as field interface devices talking to a central user interface. Think dozens of individual pump control panels acting independently on local conditions, feeding sewage to a treatment plant while talking to a central system that is coordinating their activities.