He sounds very much like my XP, and it took me a long time to leave him because he had eroded my self confidence to practically zero with his verbal abuse and controlling behaviour. It felt like a massive decision to leave him at the time, and we didn't even have kids! I was a nervous wreck though, extremely anxious and unhappy, always hoping that he would change and that things would get better. Needless to say they didn't, they got worse. His behaviour got more and more extreme as he tried harder to control me.
Thankfully I finally managed to get the strength together to leave him and IT WAS THE BEST DECISION I EVER MADE!! I felt free, I felt like a weight had been lifted, I felt like the world was my oyster. I went on holiday on my own and felt so liberated. I never looked back.
I'm telling you this because I know how hard it is to arrive at that decision. I can fully sympathise with you, having children with him and having been with him for a long time. I know it's a very tough step to take.
Believe me, though, once you take it you will be so very relieved that you did. Life is too short, way too short to waste it on a weak, insecure, jealous old bastard who can't take responsibility for his own issues and bullies others to feel powerful. It's too short to spend any more time feeling bound up with anxiety, feeling unloved and unvalued (if that's a word!), being spoken to like shit. You deserve so much more.
Try this exercise to help you make the decision. In turn, picture two different futures for yourself, the one you'll have in 5 years time if you stay with him, and the alternative one, if you leave him. Think about them each in detail - what you'll have around you, what you'll be doing, what you'll be capable of, what will be important to you, what you'll believe about yourself, how you'll feel about life and where you're at. What's the difference? How much money is the better future worth to you? How does that compare with the financial difference between staying and leaving?
NB. you're much stronger than you think you are (we all are!!)