Is it obligatory for a latecomer to a congregational prayer (ma'mum masbuq) to perform the prostration of forgetfulness (sujud al-sahw) if he forgets the transitional takbirat according to the Hanbali school of thought?

If a latecomer (masbuq) makes a mistake regarding the takbirat al-intiqal (takbirs of transition) while following the Imam, he does not perform the prostration of forgetfulness (sujud al-sahw). However, if he makes a mistake regarding them while making up what he missed after the Imam has concluded the prayer with salutations, then he performs the prostration of forgetfulness, because he has then become an individual performer.