It’s hard to accept I just made a bad choice 15 years ago and this is the consequence.
Something that may not have occurred to you OP.
You want to stay with him and you talk about your feelings towards him like a great love story. A rescuer, a protector, a great romance. But actually, you are also following the script. You are playing your part in this charade.
Abuse is daily in your house. It starts before you wake with him touching you sexually without your permission and it continues throughout the day with you walking on eggshells around him and taking whatever verbal abuse or physical aggression he throws at you and your children.
When you leave the house, you both put your masks on. You both smile, hold hands, greet your friends and family with a cheery smile. He smiles at you across a crowded room and you feel elated. When you get home, the door closes, the masks come off, the pantomime ends and you wait to see if you will be raped that night. That is not what love looks like.
This is not a love story and you are not special. He is a regular, script following abuser and you are a regular, script following, abused woman. Your experience is so familiar to so many posters on this thread because it's what all abused women do.
Your relationship is not special. There are hundreds of women in your position, putting on a mask, not wanting to leave, thinking they are in love. And there is support out there for those women precisely because of this that can help you see that this is not what love looks like.
Some manage to walk away from the charade. Some wait until the children are older (worse for the children but easier for them) and many never escape at all.
He picked you to abuse, not because you're special (if it hadn't have been you it would have just been some other vulnerable young woman) but because you were right there and he took advantage of that situation.
He studied a book to learn how to abuse women. You are not special to him at all, any vulnerable woman will do. That's not what love looks like.
You are not special in this scenario, he is not special, neither of you are in love, this is not a love story, this is a horror story.
I really hope that one day you do get to experience love but first you need to just be you, free of all these fears and restrictions that stop you enjoying life. You are so young, you will regret wasting your youth if you continue to live like you are now. You have barely begun to live. You haven't experienced freedom and joy and everything that is out there in the world which is wonderful. You are hiding in the dark, a shadow of yourself.
If you stay with him knowing what you know now, you will look back, like you are looking back now, and you will say why did I do that. Why did I make such a bad choice.