The second seed advanced to the last four with a 6-3, 6-3 victory over qualifier Radek Stepanek. He will next face Fernando Verdasco.
Novak eased past Argentine Horacio Zeballos 6-3, 6-4 in 72 minutes on Wednesday to advance into the last eight in Doha.
The defending champion overcame a slow opening to beat German Jan-Lennard Struff 7-6 (1), 6-3 in one hour and 27 minutes.
Novak is no.2 seed and will open his title defence campaign against Jan-Lennard Struff (ATP #63). It will be their first career meeting.
Novak released an official statement citing the end of cooperation with his coach Boris Becker, that saw him win six of his 12 Grand Slam titles and 14 Masters 1000 crowns.
Another great tennis season has come to an end, with records and new chapters in history books written by the tennis Champion from Serbia.
Novak completed the 2016 season with a 65-9 W/L record and seven titles won, and finished year as no. 2 for the second time in his career.
Sunday’s contest between Novak and Andy Murray will be the first occasion in history that the year-end no.1 ranking is on the line at the title-match of the season finale.
The defending champion kept up the pressure in the race for the year-end no.1 ranking with a convincing 6-1, 6-2 win over Belgian David Goffin on Thursday.
Nole continued his bid for a fifth consecutive WTFs title with a 7-6 (6), 7-6 (5) win over Milos Raonic.