Hi B.,
I cannot give you specific info for your area, but I wanted to suggest that you call your local (or any!) women's shelter, and ask for some advice. They deal with similar situations frequently and will most likely have some ideas/plans for you regarding how to have him removed legally. I'm sure it can be done since the house is not in his name.
Also, I want to commend you for making the decision to part ways. You do not deserve that type of treatment and your kids don't deserve it either. Congratulations to you for deciding to get on with your life.
My father was abusive (verbally, emotionally and physically) with my mother and she let him stay for WAY too long--not her fault, etc. but please know that your kids will be much better off without being exposed to his toxicity over all. Don't second guess yourself. You go girl! God Bless. Stay strong especially for your kids, they need you!