OP I've been there, and even though people were telling me to leave (in a supportive way) on here, it really wasn't easy.
We were together a long time and I didn't think I could afford it, I stayed for the kids etc etc.
In all honesty I'm not sure I would ever have had the courage to leave! I came close but couldn't actually do it.
In the end he left me, though in his head it's mutual as even though he had it all worked out, he asked me if there was anything I thought we could do to change things 
It wasn't until he moved out that I realized how controlling he was and how much I walked on eggshells around him.
These last few months haven't been easy, but everyone keeps telling me how well I look, how much more confident I am and how I'm always smiling now.
Could you perhaps get some counseling for yourself, it helps to talk it through with someone impartial.