you can create the dummies from the single new observation, and then reindex this frames columns using the columns from the original indicator matrix:
import pandas as pd
df = pd.DataFrame({'cat':['a','b','c','d'],'val':[1,2,5,10]})
df1 = pd.get_dummies(pd.DataFrame({'cat':['a'],'val':[1]}))
dummies_frame = pd.get_dummies(df)
df1.reindex(columns = dummies_frame.columns, fill_value=0)
returns:
val cat_a cat_b cat_c cat_d
0 1 1 0 0 0
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