Here an example of how I do that, I don't know if it is the best solution, but works perfectly.
First, code in HTML. Look at ng-class, it's calling hasError function. Look also to the input's name declaration. I use the $index to create different input names.
<div data-ng-repeat="tipo in currentObject.Tipo"
ng-class="{'has-error': hasError(planForm, 'TipoM', 'required', $index) || hasError(planForm, 'TipoM', 'maxlength', $index)}">
<input ng-model="tipo.Nombre" maxlength="100" required
name="{{'TipoM' + $index}}"/>
And now, here is the hasError function:
$scope.hasError = function (form, elementName, errorType, index) {
if (form == undefined
|| elementName == undefined
|| errorType == undefined
|| index == undefined)
return false;
var element = form[elementName + index];
return (element != null && element.$error[errorType] && element.$touched);
};