Abusive relationship advice

My husband has borderline personality, meaning I have to be extremely patient when dealing with him. We met in high school and got married once I finished my BA and he went to tech school. My husband always gets aggressive with me but I know he can't help it. He sometimes has 0 control over himself. But I know he loves me a lot. Last night, when he came home from work I hadn't finished making dinner at home. He had a horrible temper when he came and began yelling and getting agitated at every little thing. I was carrying his plate of noodles over to him and I accidentally spilled the plate on the floor. He got so mad that he grabbed me by the hair and forced me to the ground and asked me to eat the spilled food. Saying things like "stupid useless bitch" and "that'll teach you not to waste." He then slapped me. My little sister who lives with us (shes only 11) was staring from the living room crying. Rest of the night was quiet. That night he started crying and saying how I make him a better person and how he's so sorry and that he needs me and can't live without me. He says im his angel. I love my husband very much and I just really don't know what to do. I'm crying so hard. God help me see what's right.