Its almost paralysing I know, it took me three years of being miserable, and 18 months of pretty much shit every day to decide to do it. He has continued his behaviour since I left (21 years and 2 kids) and essentially I do still have feelings for him and don't want him out my life forever. No chance of a romantic relationship though.
I am still learning about setting boundaries, but I am in my own four walls of safety. He can text, call or when I see him be a mean nasty shit (or overly nice, it varies between the two) but I can leave and not have to put up with his sighing, huffing or general stone walling me, or anger and rage, I can be in my own peace.
The kids have been great, the eldest one who is 9 said yesterday " i see why you left now". Amazing how much becomes clearer when you leave.
If you are committed and really truely want to make it work, perhaps you should have individual counselling, but who knows if it will change anything for the foreseeable future. You see unless he has a personlaity transplant or some serious therapy, the episodes will drop off for a while but re- emerge. Not trying to be negative or anything, but in my view anyone who disrespects you enough to make an arguement personal to make themselves feel better, is someone you are better off not around. I still love my ex, but I don't like him much at the moment. Its tough, but when you arr ready, you'll know.
Keep posting on here and keep a record of how you feel and what happened, like a diary, as you forget because if you are anything like me you bury it and swallow it down.