I left him too. He was emotionally abusive for the first 5 years, and then physically. Then another five years of emotional abuse followed by the second violent episode.
I took my young children (7, 5 and 2) and I left. I read ALOT about emotional abuse online and in a million books. I'm one year one and I am free.
I thought he was a wonderful dad until I left and realised how stifled my children had been living in a house where mummy is desperately trying (and failing) to please daddy every single day. I was breaking and my little girls were going to go under with me.
Leaving him was the best thing I ever did. It has been a year of hell but still, always, the best thing I ever did.
If he treats you like shit please consider leaving him. It's terrifying and it does affect the children. But honestly, it is not half as damaging to the children as letting them continue to live with an abuser.
Keep posting your thoughts online. We will support you. No pressure, but support.