I want my 23 yo son to move out... how will I do that?

I very much want my son to move out. He is verbally abusive, and physically abusive, and totally disrespectful to me! When I am trying to battle depression everyday, he is toxic and says things that really hit my weak spot. 

Pushing aside that I brought him and my daughter up single handedly over the last two decades, and sacrificed my younger years 100% attending to their needs. Little did I know that he would grow up with such narcistic traits. If I knew then, I would have sacrificed less, and at least looked after myself too. I never paired myself with anyone, and dated anyone these last 2 decades and now find that I am alone with no one.

My son's abusive words push me to the brink of being suicidal. I know I can't keep this up and to save my mental health, he really needs to be out! My daughter and I are close and my son most of the time ruins our peace in the household.

What can I do to get him removed from our household? He has dropped out of University, has no decent friends, and does not pay board, nor help out with bills financially. I took out an AVO against him 3 years ago as he was physically violent towards me and my daughter. He begged me to let him come back so long as he kept himself civil. But he's back to his old self soon after.

How do I ask him to leave?