A year ago I was on holiday with ex who was like your H.I came home tried to talk to him and when I realised it was hopeless I saw a solicitor.
As others say, get your ducks in line before hand and prepare for him to fight dirty BUT his behaviour has absolutely confirmed it was the right thing to do.
Most of my family had been unaware and thought it was a case of poor communication in a marriage as he appeared so charming however his behaviour since separation has proven how vindictive and abusive he is.
I know why you are struggling, the abuse develops slowly and could at first be stress but over a period of time you realise it's now a pattern of behaviour.
I stood up to ex but it made no difference, he used every tactic to get his way.The only effective strategy was to walk away at any stage he was abusive but that's not always possible .like on holiday in a shared space.
We had such a good life, our children were thriving and it made no sense but abuse isn't rational or reasoned.
My ex went to counselling but his lack of insight or guilt meant it never changed him.It just confirmed his victim status.
Sadly you are not dealing with a "nomal" man, he has issues which are deeply entrenched possibly nature as well as nurture but entitlement plays a big part.As my ex's salary increased he became more abusive not through stress but a sense of power.
Read books on the subject as you will realise you are not alone and didnt cause this.I found Lundy book and Patricia Evans books really useful.
I feel sad I ended up in an abusive relationship, my lovely dc didnt deserve it but the best thing I did was walk away.
No one will judge you and thankfully we live in an age where women can leave abusive men.You are not weak and have more strength than you realise...your H knows it too which is why he tries to put you down.