The Prophet (ﷺ) said: "If one of you does not know whether he prayed three or four (rak'ahs), let him pray a rak'ah then prostrate twice after that when he is sitting. Then if he prayed five (rak'ahs), they (the two prostrations) will make his prayer even-numbered, and if he had prayed four, they will annoy and humiliate the shaitan."
"If one of you is not sure about his prayer, let him estimate what he thinks is most likely to be correct and complete the prayer on that basis, then let him prostrate twice."
"The Messenger of Allah (ﷺ) prayed and did more or less (rak'ahs). When he had said the taslim, it was said: 'O Messenger of Allah, has there been some change concerning the prayer?' He said: 'If there had been some change concerning the prayer, I would have told you. Rather I am a human being and I forget as you forget. If any one of you is not sure about his prayer, let him consider an estimate of what is correct, and complete his prayer on that basis, then say the taslim and prostrate twice.'"
"The Messenger of Allah (ﷺ) prayed and did more or less (rak'ahs). When he had said the salam we said: 'O Messenger of Allah (ﷺ), has there been some change concerning the prayer?' He said: 'Why are you asking?' So we told him what he had done. He turned back toward the Qiblah and prostrated two prostrations of forgetfulness, then he turned to face us and said: 'If there had been some change concerning the prayer I would have told you.' Then he said: 'Rather I am a human being and I forget as you forget. If any one of you is not sure about his prayer, let him estimate what he thinks is correct, and complete his prayer on that basis, then say the taslim and prostrate two prostrations of forgetfulness.'"
The Messenger of Allah (ﷺ) prayed Zuhr then he turned to face them and they said: 'Has there been some change concerning the prayer?' He said: 'Why are you asking?' They told him what he had done, so he turned back toward the Qiblah and prostrated twice. Then he said the salam and turned to face them and said: 'I am only human, I forget as you forget, so if I forget, then remind me.' And he said: 'If there had been some change concerning the prayer I would have told you.' And he said: 'If one of you is not sure about his prayer, let him estimate what is closest to what is correct, then let him complete it on that basis, then prostrate twice.'
"Whoever us not sure about his prayer, then let him estimate what is correct, then let him prostrate twice after he finished his prayer, while he is sitting."