Is it normal that i hate my mom?

I'm 18, and my mom and I have a horrible relationship. We always had a horrible relationship, and I don't remember anything good from my childhood with her.

She throws all sorts of shit at me, calls me names, brings me down, and she always makes fun of my friends when I'm with her. I get called disrespectful and rude when ever I talk. I can say "I'm hungry mom" and she always says, "Don't talk back you're so disrespectful". My siblings are treated like diamonds, when I'm just treated like plastic. My mom says I was a mistake because she had me when she was 16, and she had my other two siblings when she was 25-28. There was a time where I had to run away to my grandma because my mom would NOT help me do my homework, wouldn't feed me, or wouldn't do my clothes. You might be thinking "That's what a kid should do", but I was only 6 when that happened. I went to school wearing dirty clothes, my homework was only done at school where I could get help, and lost 20 pounds and developed anxiety and depression because I was so neglected (at a very young age, that lasted until I was about 16). I didn't know how to work the washing machine, or make myself food that was healthy until I turned 10 and ran away to my grandma. (There wasn't even food in the house 90% of the time, My mom always went out to eat and got me nothing). I feel extremely guilty for sometimes wishing she would die already, and that I just want to physically beat the crap out of her. I'm like Stewie and Lois (From Family Guy), but switch Lois with my mom.