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Praise be to Allah.
Shaykh ‘Abd al-‘Azeez ibn Baaz (may Allaah have mercy on him) was asked this question, and he hesitated, then he replied:
The best thing is for him to do the second sajdah, so as not to confuse people and give them cause to shout “Subhaan Allaah” [to draw his attention to his mistake] – that is, if he is the imaam. And Allaah knows best.