Don't you get it?
When you start to cope with his outbursts, he'll get even angrier? he'll get even nastier and keep getting nasty UNTIL you cower in fear, and return back under the stone he put you under? That bar will be raised every time, as soon as you reach it.
There is never, ever going to be a day when these guys wake up, realise what they have done, turn to you, apologise, vow never to do it again, and mean it. NEVER. The more you say something really hurts you, the more they will find ways to do it. BECAUSE IT WORKS!
These men can change, but only if THEY want to. Your actions, words, appearance, thoughts, past, future, glasses in or out of dishwasher will never be right, he will always find something.
This is not something that will get better with time, just as an addict needs more and more drug to get his fix, an abuser needs to inflict more and more pain, remove more and more joy from your life, and hurt you more and more to get the satisfaction that only comes when he's crushed you.
in a relationship with EA/DV EVERYONE suffers. The victims include partners, children, grandchildren, likewise your own family, your parents and your siblings, as they ALL are fearing for what you will have normalised next.
Staying with this man for the sake of the children? great. you are setting them up for a life of misery, as bad if not worse potentially than the life you lead.
If you have sons, imagine the heartbreak you will feel if you get the merest whiff that he is systematically destroying his wife, mother of your grandchildren and even the GC themselves with the same, if not more finely honed, methods of cruelty that you are enduring.