RITA
re your comment:-
"He has good points too and so I keep wondering if its something we can try to change but if I try to talk to him about the fact he blames And criticises me for everything it ends in argument, We go through good patches And then very bad patches. I do wish it would all just be ok".
He is quite happy as he is, why should he change when he has you still around to boss about, otherwise control and verbally put down as and when he feels like it?. This individual is wound up about everything but never looks at his own self here as a reason for being like this; its always someone else's fault. I have to look at you in all this as well, what are you still getting from this relationship?. What needs of yours is he meeting here?. You cannot and should not be staying with him just because of the kids primarily, that is never a good idea.
HE is not good enough for you actually.
He is not for changing and such men also feel entitled to act like this too. It will be ok only if you extricate yourself from him. What sort of a dad is he really to your kids if he treats you as their mother with such outright control and contempt?. Would you want this for them as adults; no you would not would you. One day your kids will leave home and then it could well be just you and him; what then for you?. Don't waste any more of your life on this individual.
The above is really emotional abuse 101 from him; they all act like this or versions on the same old theme. Blaming the woman is typical of such men, anything or anyone to blame but their own selves. Its never his fault is it?. The good and bad patches you write of as well are really the nice/nasty cycle of abuse and that is a continuous one.
Children love parents anyway, no matter how abusive they actually are. What you are both showing them is a crap example of a relationship and not one you would want for them as adults either. What did you yourself learn about relationships when growing up?. You would be showing them a better example of how relationships work if you were to leave your H, what are they learning from the two of you now?.
You've never been directly advised "to just walk out" but to seek legal advice for your own self. Knowledge after all is power. Do this for you and your kids, they are NOT going to thank you for staying with this man.