Yes, you do deserve a healthy, normal relationship, but I don't think you are ever going to get that with him. And while you stay with him, that man who might give you a normal relationship may be passing by, thinking "Never mind, she is attached, what a shame".
After rereading your OP, I would kick him out. (Give him one month's notice, if you are really feeling generous) Change the locks and dump his stuff in binliners on the lawn. He has nowhere to stay? I doubt it. He would find somewhere, or he would pay for a B&B.
I can understand the feeling that he loves you and that should be worth something, but, honestly, you do deserve more. He might love you but he doesn't respect you, he doesn't care about you, he doesn't think of you as an equal. When you love someone you want to make them happy. Even if he can't help the way he is acting, if he doesn't know any other way to be, it doesn't mean you have to put up with it. You have offered him many chances, many opportunities to change - more than he deserves - how hard has he tried? What does that say about how important you are to him?
You need to get the support of your friends and family behind you as well, to keep you strong. How about the friend who had the fall out with him? She has seen what he is like - she will support you. Can you get any local support as well - health visitor? Local children's centre?