Hi OP, I know its hard but he's already set up 'the fear factor'. Putting to one side his violence the emotional control has already started. How confident are you that if you object to something you can openly express this with him? Will you be wary and scared of his reaction? Are you happy to spend the rest of your life walking on eggshells wondering if something you have said or done may lead him to grabbing you, pinning you against walls or punching you?
I'm sorry to say this, but this is what your life has now become. The fear of him losing it, hurting you, you protecting your kids seeing and hearing him physically or verbally abusing you will always be there in your mind now - fear.
I hate to say this too, but you have shown him what you are prepared to accept, which is lip service. If you think that by telling people, GP and counselling will all help him, I can only speak from my experience, but it didn't and doesn't.
I'm sure like many of us who have been in your shoes, you won't heed advice to leave as you will believe you can fix things, be better and leaving his harder than staying. If like many of us you stay you will probably continue to be abused verbally, physically and emotionally for years to come before you leave but in the mean time, you will live with fear, sadness, scared and hurt as well as shame of covering bruises, losing teeth, cuts, burns etc etc.
You came on here for advice - kick him out - permanently. Good luck