You will be so much happier without him. He sounds vile. He is abusive. He shows you no respect or love or care. That isn't a marriage, a partnership. He thinks he's the boss, the important one, and you're there to make his life easier and to serve him. When you're ill or need support yourself he's angry, as that means you aren't working as you should, and besides he doesn't see his role as helping or supporting or looking after you.
He treats you like a household appliance that should always work without complaint.
I know you said you couldn't leave quickly, but I would encourage you to leave as soon as you possibly can. Every day spent with someone like him is miserable and makes you less secure in yourself. You lose a bit of who you really in, in an attempt to be who they want you to be, for an easier life.
But that does you a disservice. It isn't good for your health and wellbeing, and it isn't good for your children. Your relationship with DH is not one you'd want them to emulate in their adult years, and there is a risk they will see it as 'normal'. They will benefit hugelty from seeing their mum rise up and say 'enough - I deserve better. Noone treats me like that and gets away with it'.
Please keep talking on here, and seek advice and support IRL where you can. You might be surprised that you can leave sooner than you'd thought.
In the meantime, as pp said, start to imagine your lovely home once you're free of him. Calm, comfy, loving, filled with laughter, decorated as you want it, doing what you want with your time, never undermined, never criticised. Imagine how you'd want that home to look. It's a private thing that he can't take away from you, and it's part of you planning the next part of your life. Away from him.