This is so sad to read OP because you don’t know any other way to live. You don’t know what a mutually loving respectful relationship is like and you’re so grateful for the crumbs he offers you that you’re overlooking the rest.
What you described him doing with the kids isn’t anything to be celebrated. It’s the minimum a parent should do, not even that if he never takes them anywhere.
If you were 16 and him 26 when you got together then it’s likely he groomed you, and he’s trained you ever since to be a willing prisoner.
The only way you’ll find out how abnormal this is, is when you leave. Then you’ll see. And it’s so hard to take this leap of faith when you know no different and don’t think it’s that bad. We are just a bunch of strangers telling you. Please call Women’s Aid and get some advice from people who are trained in this. They will tell you the same.
I know that you’ll be thinking posters here are overreacting by being so shocked. It’s shocking to us but it’s every day life to you. Of course it’s not all bad, like you see abusive relationships on TV - they never are all bad and that’s how they get you to stay.
I guarantee your friend already knows he’s abusive. Talk to her.
One thing I promise you - he won’t leave. If you start going out five times a week he still won’t leave. He’s grasping at straws to try and control you. I’d be concerned about how he will behave once he realises he can’t control you any more. Please get some professional advice as I worry for your safety. If he’s not violent to you now that may just be because you’re staying in line.
I would start making (secret) plans to leave. Take advice from the charities mentioned, figure out what financial support you’d be entitled to, and what your options are for housing.