Once you have completed 5 years residence in the UK with a Residence Card (or it is about to expire) you can apply for a permanent residence card which will permit you to stay in the UK permanently or in other words, settle in the UK.
If you are still in a relationship with your EEA National family member and they are still exercising Treaty Rights the application will need to evidence that this has been continuing for the past 5 years.
At Tremont Midwest we can advise you what evidence you will need to show that you meet this requirement and we can assist you to make the full application.