I'm new here and I could use some advise

hi, I've been married for almost 20..yrs. my hubby has always been verbally and emotionally abusive, off and on. i recently left him, due to verbal abuse to my oldest son, but we returned within a few months. it feels like it's just happening all over again, same old cycle.
what worries me the most is my kids. my oldest boy is almost 18- and my middle child is almost 16. then the baby just turned 2! it was hard on my own, financially and emotionally, but I know I can get thru it. when I see my girls, it scares me that they may end up with someone just like their dad and they will be ok with it. I feel like if I leave now, maybe I can still have some hope for them.
these last few days, I've been getting my important docs together and am planning to leave the state all together. if I don't see our talk to him, it'll be easier to stay away. I know my two older kids are happy to leave, as they are tired of our lives right now. the baby I think will miss her dad, but I'm hoping she will get over it.
can anyone please tell me that I'm doing the right thing? I need some reassurance please.
just for back ground info, there's only been a couple physical incidences, and it was on me not the kids. there was infidelity on my part about 15 years ago, which still comes up in every argument. he has issues with opiates and the harsh mood swings when he's low on meds... which is often.
please help!!!

I can't tell you whether you'd be doing the right thing by leaving. I can imagine it must be hard though, not knowing what is best for you and your family. My gut feeling is that what will be best for you will likely also be best for your children. If you feel good about yourself and your life, then that will in turn affect your relationship with your children and how they feel about themselves.

I don't have children myself, so I don't know how hard it must be to make these kinds of decisions. I think, like what you wrote about you fear for your daughters, I would worry that staying can set an example of accepting abusive relationships and sacrificing your own happiness for others' benefit. Whereas making choices that support you (and what you want from your life) may show your children that we don’t have to accept bad situations and that we can always change our lives.

My father was emotionally abusive to both my brother and myself growing up. My parents have never split or divorced, so we were always forced to just "deal" with the ongoing abuse and bullying.

Well anyways... im in my late 20s now and i currently suffer from -

Bordeline personality disorder, anxiety, depression, and frequent panic attacks... And so does my brother...

They say emotional abuse is the worst kind... but it's your decision to make...