Andy Murray sets up final with Novak Djokovic after beating Milos Raonic in five thrilling sets

Murray, the second seed, came through 4-6 7-5 6-7(4) 6-4 6-2 against his Canadian opponent, seeded 13.

Murray will bid to add the Australian Open to his Wimbledon titles of 2013 and the 2012 US Open in what will be his fifth appearance in the final of the season’s first Grand Slam.

He has lost one final to Roger Federer in 2010 and three to world number one Djokovic in 2011, 2013 and 2015. Murray moves 4-3 clear of Raonic on the career head-to-heads.

A four-hour match is hardly ideal preparation for Murray before he meets the daunting Djokovic in what could be the third leg of a possible career Grand Slam.

"It was tough - I played well in that third set, but in the tie-break he didn't miss one first serve, and he's got one of the best serves in tennis… But after that I started to get a better read on his serve," Murray said.

"You can't afford to do anything poorly (against Djokovic) - I need to concentrate on executing my game plan… Hopefully this time it’ll be different."

The Scotsman trailed 1-0 and 2-1, but was ruthless in dispatching Raonic, who began to toil with a groin injury after pinching a tight second set on the tie-break.

It was desperately bad fortune for Raonic, who had looked poised to go one better than his career highlight of making it to the Wimbledon last four in 2014. But the Canadian 13th seed will reflect upon a magnificent tournament under new coach Carlos Moya having enjoyed a momentous win over French Open champion Stanislas Wawrinka in the fourth round.

"It's unfortunate for him," Murray said of Raonic's injury. "it would have been nice to have had a more competitive final set. He was struggling with his movement and serve a little bit."

Raonic has been on fire this year and his big serve and huge forehands had one of the best returners in the game on the ropes, while his new-found net game helped him to a healthy 72 winners.

Murray said earlier this week that he would waste no more energy on the histrionics but the match was just minutes old when he returned to his chair muttering curses having been broken to love in his first service game.

That was to be Raonic's only break of the match but it was enough to win the first set and, after Murray had pounced to even up the contest, he ramped up his 230 kilometre-per-hour serve to clinch the third on tiebreak.

"It was tough," said Murray. "It was frustrating ... he didn't miss a first serve in the breaker and I had played some good tennis in that set."

Raonic almost claimed it back in the next game but Murray saved two break points, falling to one knee and roaring "Yes! Yes!" as he pumped his fist at the ground.

Murray served out the set to even up the contest again and grabbed two breaks early in the decider as the wincing Raonic's level dropped, the Canadian's racket feeling the brunt of his frustration after the first.

"It's unfortunate, it's probably the most heartbroken I've been on court," Raonic said of his injury.

"I think maybe that's why I sort of lashed out at the start of the fifth set. I don't think that's like myself to do, but sometimes it's a little bit too much to keep in."

Murray finished off his ailing opponent with a sublime crosscourt backhand volley to bring up a match point, which he converted with a handsome forehand winner.

The 28-year-old pointed both index fingers at the roof of Rod Laver Arena before slumping into his courtside chair with a look of relief on his face.

The relief will not be long-lived, however, as he will be back on the same court on Sunday attempting to dethrone five-times champion Djokovic.

"I have a very good shot on Sunday if I play my best tennis," he said.

"There's no reason it's not possible for me to win."

Brother Jamie is also a finalist, with the Scot partnered by Brazil's Bruno Soares in the men's doubles which will take place on Saturday morning. The seventh seeds take on Daniel Nestor and Radek Stepanek.

“For both of us to be in a slam final at the same time is incredible," said Murray. "I hope he can win tomorrow night.”

Greg Rusedski and Virginia Wade analysed Andy Murray's win over Milos Raonic and looked ahead to his final against Novak Djokovic.