You sound like me. Thoughts on Lundy, not wanting to rock the boat, blaming yourself, trying to fix the marriage, him not listening or offering respect. Oh once threatened to hit me and has not done it again but I do not trust him or respect him anymore. I wanted to work out if it was a 'seven year itch' etc, if I was unrealistic.
He suggested separation, I agreed, he then refused to go, I then suggested divorce (a couple of months later), he spent two evenings ranting about me, I dare not raise the subject again. Then he had the sense to go to Relate, two sessions later he insists either I go with him or I go alone. Full of suspision I go alone and she was lovely, and listened, I thought she would believe him and what he had to say, but at the end of the session she asked what help I needed to separate from him, asked me to contact my health visitor for support and its gone on from there. I now have a domestic abuse support worker (due to emotional abuse and him not leaving and me not daring to ask again) have social worker round monday to assess impact of emotional abuse on children (school and preschool are not worried so that is good) and solicitor appt on wed re a occupation order and non molestation order so I can get him out to have some freedom to think and to safely divorce him.
Sorry for talking about me...but step one to help yourself, go to Relate :) (£35 to £50 donation per hour session at our local doctors) they are what helped me start this, I was stuck in limbo like you are now. You don't have to tell him you are going. Just talking about your situation with a neutral person helps so much, and they can offer other support too, and help you find a way forward, whether that is with your OH or without him. I have no family but do have three supportive friends. Maybe contact any old friends you were close too? My oh has driven away a number of friends too, and helped me break contact from my family, and he has isolated me from his family as well.
Anyway much sympathy, suspect you are holding bits back, things that he has belittled and made out to be nothing...I would say it is emotional abuse, the critisism, undermining you, oh and they do like to do the 'you think I'm controlling, YOUR the controlling one.' and reflecting their behaviour back on to you. Don't believe him. I tried compromise with OH too...he wouldn't listen, then when I finally really pushed on issue to resolve it i would be told I had everything my own way... 
You've made a first step by posting this, now make a second one to help things change for the better and get more outside support in place... :) (ie relate, family, old friends, health visitor? Sympathetic GP?) It feels good to be doing something rather than nothing and living in limbo.
And...sorry more stuff, dd1 loves OH to bits...so your not alone on that one. Its tough but for you to be a good a parent as you can be you need to be happy, things will work out for the best, just keep loving them and that is good enough.