This sounds awful, and because you have small children you have extra cause to get out of this situaton. You are the parent that gives them their reassurance and stability, just think how it will be to feel safe and not be controlled, bullied and put down.
Perpetrators of abuse always place blame on their victims.
I know you say your family thinks he's great but try and explain your situation to them. I'm afraid not all of them will understand as it's sometimes difficult to explain how bad things can be in your own home. But keeping quiet gives bullies that extra power in isolating you.
Best to prepare yourself too for the lies and stuff your H may say about you to family, friends and worse, your own children when you do leave.
Contact Women's Aid, they will not judge you and they'll understand and not pressure you into leaving straight away.
Please take care with your Internet history. Can you keep a secret log of how he verbally abuses you, try and remember dates and incidents.
You could also contact your GP to report what is going on. Your GP can also refer you to local organisations.
If you have time take a look at this website,
www.freedomprogramme.co.uk
It takes time, planning and courage to leave. Your confidence is at rock bottom thanks to H but I am glad you are starting to look into practical matters.