The Rama (1:6) writes that if your children are minors, you have fulfilled the Mitzvah. Even though while they're minors we don't know if they will mature into normal adults that are able to reproduce, we rely on the Rov, that the majority of children mature. You don't need to have more children just in case they won't mature.
The Minchas Chinuch points out, this is only while they're still minors. If they become Bar/Bas Mitzvah without the signs of maturing (two pubic hairs,) they have proven that they're not from the majority that matures and cannot be relied on to be Yoitza the Mitzvah. Though we are have a Sufeik that the child could have produced the hairs and they fell out before they were checked, still it's a Sufeik Mitzvah from the Torah and you must make sure that you definitely fulfill it.
DEAF MUTE AND INSANE CHILDREN
You are Yoitze the Mitzvah while having a deaf mute or insane child, since they have the ability to reproduce. Though they'll never be obligated in Mitzvos, they're still considered people that Mitzvos apply to them since you're not allowed to feed them anything that's prohibited.
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