I find your posts heartbreaking to read Capes I really do 
Please get over the idea that abuse has to be physical violence or that rape is only defined by aggression and pain.
You said I controlled all of our finances
No, he allowed you to administer your finances, as and when it suits. You also talk about him not hesitating to withhold money. That means you're not in control.
In a lot of ways it looked like I was the one in control and wearing the trousers in our relationship
Yes, it looked like but he doesn't even allow you to be in control of your own body if he wants something you don't.
Just, the exact opposite of someone who was being abused
You must have heard or read on here, of so many people who look to have a wonderful life, with a wonderful partner who no one would ever suspect or believe is so very different in private? The whole list of issues with this man goes on and on and on.
Please afford the same courtesy to you and your children, that we do. Believe in how badly treated you are and believe that you all deserve so much better. You are certainly strong enough to make wonderful lives for you all if you only admit to yourself what you need to do.