I did this for nine years. I just couldn't find the strength to leave, but one day I woke up and just thought, I cannot do another nine years of this, it's such a waste of a life.
The day I left him I expected to feel utterly bereft, but actually I felt like a huge weight had been lifted and my self esteem soared because I had done something positive for myself and given myself hope. All the while you stay with him, your self esteem and pride rotting away, is another day lost to unhappiness.
Get out!
Seriously, I have been so happy and my life without the dead weight of my ex hanging around my neck has improved no end. I've had a few relationships since, some good, some average, but that's to be expected. I'm now with a gorgeous, kind, affectionate, warm and loving man who suits me and my needs a MILLION times more than my ex ever did. I feel happy about the future, something I never felt with my ex.
Leave, don't look back, don't doubt yourself, EVER, don't feel sorry for him, or worry about what people think, your relationship is nobody's business but yours.
Good luck