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Unless you are planning on adopting the children as your own, there wouldn't be a basis to "terminate" the father's rights.
It sounds like you already have a full legal guardianship over both of the children which gives you the legal authority to make all decisions for the children as you see fit.
(If you do not have an actual court order, you are working off of an informal agreement - but this doesn't seem to be the case based on what you posted - you may want to consider going to a local attorney and have them assist you in putting together a guardianship petition so that you can get that formal legal guardianship).
Furthermore, with regards ***** ***** child support obligation, I don't know if you want to pursue it or not (some families/caretakers choose to leave well enough alone, while others would like to get the financial assistance to help with raising their children (I know first hand how difficult it can be raising special needs children)), you can get assistance in enforcing a child support order from the state.
I would be surprised if the $100.00/month is all that the court order is going to allow, and the children's father is likely liable for much more.