Novak Djokovic qualified for the last four of the ATP World Tour Finals with a pulsating straight-sets win over Milos Raonic on Tuesday. Having already beaten Dominic Thiem in Sundays opener, the world No 2 was back to his best form at times in a 7-6 (8-6) 7-6 (7-5) triumph at Londons O2 Arena.Djokovic edged a fiercely contested first set in a tie-break and then clinched victory courtesy of another tie-break after both players had dropped serve twice in the second set. Shot of the matchRaonic may be 6ft 5in, but Djokovic beat him with this inch-perfect lob. This lob from Djokovic was the shot of the match Djokovics reactionWinning the first set in a very close tie-breaker gave me some wings and I started playing well. I was two times a break up in the second, but Milos was hanging in there and one or two points separated us today. It could have gone either way. Djokovic speaks to Annabel Croft after the match Expert analysisGreg Rusedski: This is what Djokovic needed. We thought he was back to his best tennis when he was up a set, faltered a little bit, got it back with another break and then found a way to come through. For Raonic, its going to be a sleepless night. These are painful matches to lose when you have the match in your hands on many occasions. Highlights of Novak Djokovic v Milos Raonic from the ATP World Tour Finals Peter Fleming: Raonic had a set point in that second set but failed to convert it, and despite the W next to his name for Novak, there are still a few doubts and a few nerves rattling about in his head - erratic play that will leave him questioning where he is at. But for now he is 2-0 in the round robin and he is going to be around at the weekend. He can still hope his complete game returns. Djokovic explains some of his shot selections at the Sky Pad The matchRaonic made the better start and created three early break points, but he failed to capitalise on each of them after being forced into errors by Djokovics outstanding defensive work and willingness to engage in long rallies.Although Raonic started raining down winners on his first serve, a combination of a weak second serve and more unforced errors allowed Djokovic to keep pace and the set almost inevitably went to a tie break.It went largely with serve until Djokovic broke with a stunning lob and Raonic then double-faulted to hand the Serbian first blood. Raonic hit 42 winners but was undermined by unforced errors Raonic twice looked to be a beaten man when he was broken in the first and fifth games of the second set, but on each occasion he broke back and the match once again went to a tie break.The pair were level at 5-5, but a successful challenge handed Djokovic match point and he took it by forcing Raonic into his 27th unforced error of the tie, a figure that ultimately undermined his total of 42 winners.Watch every day of the ATP World Tour Finals, from November 13-20, live on Sky Sports. Full schedule here. Six months half price Upgrade to Sky Sports now to watch Man Utd v Arsenal this Saturday and get the first six months half Also See: Murrays service syndrome over? As it happened... We will get the dream final Murray: No 1 hasnt changed me Nike Air Max 1 Aanbieding .In my heart and mind Im competing for India, luge competitor Shiva Keshavan told The Associated Press in an email interview. Every day Im flooded with messages from Indians all over the world telling me they are supporting me. Nike Air Max 180 Nederland . -- Jaye Marie Green shot a 4-under 68 on Thursday to increase her lead to five strokes after the second round of the LPGA Tours qualifying tournament. http://www.airmaxkopennederland.com/uitverkoop-air-max-270.html .J. -- Marty Brodeur beat the Pittsburgh Penguins yet again. Nike Air Max Korting .com) - The Calgary Flames aim to bounce back from their first regulation home loss of the campaign on Friday night when they host a Detroit Red Wings club that they swept in three meetings a season ago. Nike Air Max 720 Heren Sale . -- San Francisco 49ers linebacker Ahmad Brooks was fined $15,570 by the NFL on Wednesday for his hit on Saints quarterback Drew Brees last Sunday.Rafael Nadal booked a Madrid Open semi-final against Andy Murray after coming through his last-eight tie against Joao Sousa. The Spanish great earned a 6-0 4-6 6-3 victory against Sousa in the quarter-finals in his home country on Friday. Murray into semi-finals British No 1 edged past Tomas Berdych That result set up a clash with Murray which will be shown live on Saturday on Sky Sports 3 from 11am. It is a repeat of last years final, which Murray won. Having watched Murray edge past Tomas Berdych, Nadal joined him in the semi-finals after a three-set win.World No 35 Sousa was initially no match for the clay-court specialist, who whitewashed the first set within the blink of an eye. Sousa finally got on the scoreboard by holding his first four service games of the second set, before completing a shock break. Joao Sousa dragged Rafa Nadal into a three-set slog Sousa valiantly fought deep into the third but Nadal broke to go 5-3 ahead before sealing progression and a meeting with Murray.Elsewhere, Kei Nishikori booked a semi-final clash with Novak Djokovic with a 6-7 (6-8) 7-6 (7-1) 6-3 win against Nick Kyrgios. Nick Kyrgios executed the perfect between-the-legs shot against Kei Nishikori The highlight of the quarter-final was a remarkable hotdog shot from Kyrgios that sailed above the stretching Nishikori in the early stages, en route to an exchange of tie-break wins.ddddddddddddBut the world No 6 from Japan took command in the third set, establishing the crucial break and outlasting his Australian foe down the near-three hour stretch.Djokovic made it seven wins from seven against Milos Raonic when he eased into the last-four with a 6-3 6-4 win in Fridays final match. Watch the Madrid Open semi-finals on Saturday, live on Sky Sports 3 HD from 11am. 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