Perhaps have a go at approaching it like a work/business/household purchase decision and write down the pros and cons of staying? Definitely discuss it with your counsellor - especially if they have been of help in other areas.
If he has changed from being a caring,supportive husband to a controlling one, there may be a physical/psychological reason that could warrant investigation if he'll agree to that.
If it's more the case that you've become more aware of his controlling, unpleasant behaviour; the cons outweigh the pros; and he's unlikely to change or agree to counselling, then it sounds like it's time to move on.
When I was young, I thought separation and divorce only hapened to other people. I'm now in my third marriage to a wonderful man.
My first husband had an affair with a much younger woman; my second husband was controlling while saying he wanted to do things to please me, tried to alienate my children, caused me to become about £60000 worse off, was probably gay but in denial; my third husband is a wonderful, caring man with whom I have an amazing,equal relationship and my children and grandchildren adore him. I could quite easily have stayed with my second husband. We went to a retreat for couples having problems and I hoped we could sort things out. I'm so glad now that I had the courage to leave. In hindsight, I realise he was having a terrible effect on my mental health and I don't know how I would have been able to cope if I had stayed.
It's never too late to have another chance or to find contentment being on your own.