Staying for the kids..?

Is it ever right to stay in a marriage you want out of strictly for the kids sake? Married for 8 years, together for over 10. Had our first two children before we got married...had our third in 2003. I do not love my husband. It is actually hard for me to openly say it..but it is true. He is controlling, rather rude at times and I honeslty want nothing to do with him physically..but force myself to in order to avoid hurting his feelings and having to answer a bunch of questions. We seperated briefly before, but I had such feelings of guilt because of the kids that we moved back in. It may kill my MIL..very very devout Catholic family. I know in my heart it was a mistake to come back..but I am so scared of what it would do to the kids, and to my husband financially. I have not worked in over 7 years, I am a stay home mom. I have no "up to date" job skills..how could I support us? Looking for any advice...dont want the kids to be hurt or emotionally scarred from this.