Last thought, before I go to bed...
Could you daughter choose to terminate her dad's parental 'rights' over her?
www.familylawweek.co.uk/site.aspx?i=ed127998
Applications to terminate parental responsibility
Applications to terminate parental responsibility can be brought by anyone with parental responsibility in respect of that child (s.4(3)(a) CA 1989) and, with leave of the court, the child itself (s.4(3)(b) CA 1989; FPR rr. 8.1 – 8.13) provided the child is of sufficient understanding8.
As with the presumption of acceding to an application for a parental responsibility order, there is a presumption that once granted it should be continued.. The welfare of the child is paramount and courts must ensure that an order terminating parental responsibility is only used as "an appropriate step in the regulation of the child's life where the circumstances really do warrant it and not otherwise 9."
This is, of course, a very big step, but what you have said suggest your daughter has already decided she will cut her dad out of her life once she is older. I would not push for this yourself, only allow someone to discuss with your daughter if you felt this may help her, and never make it a suggestion that it would be right for you.
It does really sound like she has spent the last 5 years resenting her visits to him so to make her continue for another few years seems pointless, although I do not know how this may affect any maintenance he pays, or how it may affect her relationship with her brother.
Maybe even the 'threat' of this may allow him to 'choose' to allow her to choose not to visit at the moment in the hope of one day salvaging a relationship on an equal, not forced, footing. Just an idea, no idea how it really works in real life but someone, somewhere, may know.