Thanks for all your comments. My family aren't desperate for me to leave him.
I would think your children are desperate for you to leave him; they're also living with your and in turn their abuser too. I would also think your parents and your abusive husband share a lot of characteristics too.
"My mother brought me up to believe you stayed in a marriage for the sake of the kids and neither of my parents are interested in problems".
I'm sure she did and this pervasive and damaging attitude is also what is keeping you with your abuser now. I was wondering what your parents taught you about relationships and indeed they taught you a shedload of damaging lessons. Lessons that will now be passed onto your kids for them to potentially emulate themselves in their own relationships so the abuse cycle continues.
"I wouldn't have anywhere to go. We have a nice life albeit financially and my husband works hard to support the family as do I".
I presume you have not sought any form of legal advice re divorce so this, "will have nowhere to go" argument holds no water.
Money and material things does not in any way make up for the fact that your house is akin to a warzone emotionally. Its not your fault nor theirs that their dad has embarked on his own private based war against you and in turn your kids.
" The kids do love him and I don't feel are scared of him it's become normality for them now which I agree with you all is very sad".
But you've still got the blinkers on and you are not prepared really to take decisive action for your own self and in turn your kids. You say you do not feel scared of him; I would think otherwise but its likely too you've become inured to his abuses of you. Your kids see and hear far more than either of you care to realise. Also denial is a powerful force and you have this in spades. Your kids have had to learn fast to be both compliant and quiet in and around their abusive father; they do not love him so much as fear him and his ever changing moods.
One day your children will leave home, what then for you?. Your own relationship with both children as adults in particular is very much at risk now if you remain with your abuser; they will in all likelihood leave home sooner rather than later and you will not see either of them very much if at all once they've left. They will not want to see either of you and they will hate you in particular for being so weak.
"I just want him to treat us decently. Someone said he neither likes me or loves me and that is how I feel although he says otherwise".
What you want and what you have and will continue to receive are two very different things.
He will never treat any of you decently; he does not want to and he's also doing this because he can. Words are cheap OP and you've fallen for those from him long enough. Actions also speak louder than words; look at his actions.
You still have a choice, even now, re this man. Make better ones than the ones you have done up till now re him. There is help available out there to people just like you; you however will need to be brave and take the first step out of this on your own. In the longer term too I would urge you to get therapy to unravel and unpick the crap lessons your parents taught you about relationships when you were growing up.