"I would rather put up with the abuse than hurt the children in any way"
You hang yourself by your own petard if you truly believe this.
You are already hurting the children by staying with him. All your words are those of an abused woman, you have come to normalise his abuse over time (as many people in your type of situation do) and are desperately trying to find ways to cope with him. There are no ways to cope with this other than leaving. He will start on your children directly over time, infact I think this process has already started albeit indirectly at present. He is now picking on your eldest via you as he asked you why he spoke to you first rather than him.
Would you want your children to exhibit his patterns of behaviour as adults or end up in a relationship like the one you are in now?. I would think not but the chances of this happening increase the longer you remain within this abusive relationship. Children learn about relationships first and foremost from the parents, what are you teaching them both here?.
It is no point showing a nice life to the outside world if inside your house it is a warzone. You are living within a broken home. You are walking on eggshells and waiting for his next outburst; one which always comes.
His behaviour towards you is abusive; he does not act like this with others does he?. No, just you luv. He has chosen you as his victim very carefully. This is not a "small flaw" within him either. If anything this is learnt behaviour on his part.
Also counselling for such men too can be counter productive because they learn how to cover up the abuse they're doing towards their victim. It can go some way to justifying the abuse further in their own minds. In his mind, you "deserve" all his abuse; he honestly does not think he has or is doing anything wrong.
What are your children themselves learning about relationships from you both?. They unbodutedly hear him shout at you and are undoutedly confused themselves by both him and your reactions to him. Look at your children properly; take the tinted specs of denial off and really see this through their eyes.
You have a choice re him ultimately, your children do not. They could well as adults not want to have any contact with their dad primarily because of how he has treated you (and will continue to treat you) to date.
My best friend is both kind and intelligent but is trapped in an abusive marriage (she's had the verbal abuse, he has also smashed up her house). She is now a half person living a lie and an pitiful existance. The damage done to her child is incalculable. She needs to get out and will do so one day (please god) but she has to want to make that first and often hardest step to make plans to leave. The first step is often the hardest one to make but make it you must.
There is help out there for you and you only have to ask. Womens Aid are good, tell your family and friends about the real him. They probably have their suspicions already re him that something is not right between the two of you. They see you being dominated and scared by him.