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Both players traded early breaks in the second set before Sharapova converted a fourth break point when Lisicki returned her well-placed slice into the net.
Sharapova didn’t waste the opportunity to serve out the match, hitting an ace and forcing Lisicki into three errors in the final game to finish the match.
"She is the kind of opponent that plays extremely well against the top players," said Sharapova, who lost to Lisicki last year at Wimbledon.
Sharapova will face either Daniela Hantuchova or Kaia Kanepi next.
The Madrid Open is a key warm-up tournament for the French Open, where Sharapova will try to defend her title.
"(Last year) was an incredible memory for me and one that I will have the rest of my life," she said. "I’m still very hungry to win it. When I have that type of attitude I work harder to that goal. I find a lot of motivation at going back and trying to defend my title."
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