Imam's Ruku' - Can I Catch That Rakaat ?

In order for a follower (Musalli) in congregational Solat to get the Rakaat, he must join the Imam when the Imam is maintained in the static position of Ruku'.

If the Musalli joined when the Imam has finished the Ruku' and was coming up to the Qawma (standing) position, then the Musalli has missed that Rakaat. He must fully make up for that Rakaat after the Imam completes his Solat.