Thank you for keeping your thread updated. The kind of issue you posted is complicated - yes, this is a classic abuser tactic; yes, it is usual for an abused woman to be the independent, spirited type who believes she's in control - but life is never black-and-white. You seem confident of your independence and, as you say, this could be a simple bad habit. In which case, it should be easily fixed.
When people post "My partner hates/criticises my friends/family", I find it enlightening to see what they post next. Please read me on why!
... In a secure, happy, relaxed, mutually-respecting relationship, the matter of disliking the other's loved ones IS NOT A PROBLEM. Reading threads in other mumsnet forums, you'll often see a passing reference to such things. A partner in the process of being 'conditioned', however, picks up on this issue as one which is 'somewhat' bothering and should - as you yourself say - be easily fixed. Subsequent posts generally begin to reveal more pervasive patterns of control in the relationship.
I'm less concerned about you than I have been for other, similar OPs. You're alert, aware and you stand up for yourself. I am vastly relieved that most of your posts are about your feelings, not his. But please take another look at your statements:-
On him:
" He seems to have a set idea of what people should be like and does not seem open to people's eccentricities and quirks "
" DH can be quite a manipulative person. He has admitted it himself ... I think he also tries to manipulate me "
" He only seems to be friends with people to whom he can feel superior to "
He is rigid, intolerant, admits to being manipulative and seeks the company of those who bow to his superiority.
On your relationship:
" I am increasingly beginning to feel that DH is subtly trying to undermine me "
" DH chose to stay with me ... but now often beats me with a stick about ... how much he lost out on because of me "
" our relationship was about me accomodating his wishes at the expense of my own, due to my lack of confidence ... my abusive childhood "
" it is getting tiring but I am not giving in, which is also tiring "
" I feel sorry for him "
You have gained awareness by working through the problems of your childhood. Your knowledge leads you notice when he undermines you and blames you. You still take the blame, though - read any co-dependency page about what 'feeling sorry' for a partner means. But you're determined to 'win' this time, even though the effort tires you.
On your motivation:
" I have been more assertive with DH ... So now there is more balance in our relationship "
" until it does change [for the worse] there is still the hope of a better life "
" I feel quite optimistic that I will be happier in the future, within our relationship, than I have been until now "
Your tiring efforts have succeeded to an extent. Although you've not been very happy in your relationship for the past 10 years, you cherish the hope of being happier - in the same relationship - at future times.
Any un-fucked-up person would read that last sentence and think: "WHY, fgs??!" As a fellow fucked-up-by-family person, I think I can offer a good answer:-
Because you're trying to re-do your childhood relationships, better.
I could well be wrong (it happens a lot). Have you ever done that exercise, where you write a list of everything you gain from your marriage, which you could not have without it? And then the list of everything you could have without your marriage, but lose within it? (money, peace of mind, being able to fart when you like, friends round your house ... )
You're not walking blindly and, as I said, I'm less worried about you. But if I've given you some food for thought - all the better.