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Roger Federer has now won three of his five matches against Alexander Zverev  ATP Finals  Venue: The 02 Arena London Dates: 12-19 November  Coverage:  Watch live on BBC Two Red Button BBC Sport website and mobile app  listen on BBC Radio 5 live sports extra and follow text updates online.  Six-time  champion Roger Federer was "happy and relieved" to see off the  challenge of 20-year-old Alexander Zverev and reach the last four at the  season-ending ATP Finals in London.  Federer 36 proved the stronger in the final set winning 7-6 (8-6) 5-7 6-1. Germany's Zverev seeded third can still qualify for the semi-finals on his debut appearance at the O2 Arena. He will play American Jack Sock in his final group match on Thursday with the winner to progress to the last four.  Latest scores and results  ATP Finals - BBC TV and radio coverage  Eighth  seed Sock earlier beat Croat fifth seed Marin Cilic 5-7 6-2 7-6 (7-4)  in the second round of matches in the Boris Becker Group. "That was a tough one for sure" said Sock. "It's  been an interesting morning so far the fire alarm went off at 4am and  we had to exit the building. But I love playing here in London it's an  amazing atmosphere you make me feel like [I'm] home. In the Pete Sampras Group on Wednesday Grigor Dimitrov will play  David Goffin at 14:00 GMT followed by Dominic Thiem against Pablo  Carreno Busta who replaces the injured Rafael Nadal at 20:00. Jamie Murray and Brazil's Bruno Soares take on Marcel Granollers and Ivan Dodig in their second doubles group match at 18:00.  'To be through in two matches is great'  Federer  made it through to the semi-finals for a remarkable 14th time at the  season finale but was pushed hard for two sets by the leading light of  the new generation. Zverev showed his class with some brilliant  serving in the first set making 76% of his first serves but it was  still not enough. The German had three chances to break in the  opening game and would later lead 4-0 in the tie-break before a rash of  forehand errors allowed Federer to come back and take it.Federer is trying to win the ATP title for the first time since 2011An  early break of serve in the second set looked to have the Swiss in  complete control but from 2-0 30-0 he surprisingly hit successive  double-faults and lost his way for the next few games. Clearly  rattled by his wavering form and increasingly confident rival Federer  eventually cracked in the 12th game to send a forehand wide and give up  the set. The adrenaline was coursing through Zverev but the  effects had worn off three games later when a tired double fault opened  the door for Federer to get the key break celebrating with a loud  "Come on!" Four errors in succession saw Zverev hand over the  double break and it became three in a row when the German double-faulted  on match point after two hours and 13 minutes. Federer can now  look forward to a final group game against Cilic knowing there is only  pride and the wish to maintain his winning run on the line ahead of  Saturday's semi-finals. "I'm excited for Alex's future. He's a wonderful guy and a great great player" said Federer. "I'm  happy and relieved that I can play freely against Cilic instead of it  being a nail-biter. It's been a tough group so to be through in two  matches is great."