OP if you are going to stay for your eldest - don't think you'll get any thanks for it. You are likely to be further disrespected for staying, not seen as the martyr who held the family together. You could find your children grow up and leave as soon as possible, to get away from you and your Husband, and the horrid home atmosphere.
For the sake of yourself and your childrens' wellbeing you have to leave.
Or end your days as a broken woman in absolute misery after years of hell that could have been lessened if you'd just got up and determine that you'd get away
Let him fuck off - he's not a God, merely a man. Lots of us have been through this type of shit. I STILL have "friends" who no longer speak to me, as Mr Charming & Handsome & Personable convinced them I was crazy.
He was very vengeful - including reporting me to police with trumped up allegations, phoning work to discredit me etc - but I can't fault the police, they backed me all the way. As did Victim Support. They got me through a very tough time. They will help you. That bully was flailing once the police got onto him.
What I remember after we'd finished was, utter peace. Like having a radio that had been playing the same annoying, grating song for years on end. Then you reach out, switch it off and it's gone. Just like that. No noise. Bliss.
No man is worth sacrificing your right to peace and love and happiness for
I don't care which man it is, I don't care if a woman's had 10 children for him, I don't care if the children want her to stay with him. You will get nowhere in life with a cruel and unkind aggressive bully. There is nothing to stay for
Some years later I met my lovely OH, who is everything that pathetic bully wasn't. There's a better life and better people out there. Leave, and you will find that out. Good luck.