Not even some late heroics - some very, very late ones - were enough to keep the United States from being eliminated from the Davis Cup Finals on Thursday.
It was the 13th straight Davis Cup singles victory for Djokovic, who broke Nishioka's serve three times in the first set and twice in the second at the Caja Magica. He was substituted by the 48th-ranked John Millman, who hadn't played previously in Madrid.
Canada will next face either Serbia or Russian Federation, who play their quarterfinal on Friday morning.
"The most ideal, I think, time of the year is after the US Open, probably end of September". In addition, the time between the first and second singles matches will be reduced from 20 minutes to 10 minutes, and the doubles match has to start within 30 minutes of the second singles.
While Canada has said Auger-Aliassime could play, team captain Frank Dancevic elected to ride the hot hand in Pospisil against Australia.
With the two best runners-up in the six groups joining the group winners in the quarter-finals, the US could benefit from the fact that were effectively handed two gift 6-0 sets, should they beat Italy and finish second behind Canada.
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Djokovic defeated Benoit Paire 6-3, 6-3 to seal Serbia's victory after Filip Krajinovic had beaten Jo-Wilfried Tsonga 7-5, 7-6 (5) in the first singles.
Germany won Group C by defeating Chile 2-1 thanks to a doubles win by Kevin Krawietz and Andreas Mies over Marcelo Tomas Barrios and Alejandro Tabilo.
"I don't even know where we are, what time it is, what day it is", USA team captain Mardy Fish said.
The new Davis Cup is being played in a World Cup-style format with all 18 teams playing in a single venue in the same week, instead of the head-to-head confrontations that used to take place at varied sites over four weekends throughout the year. Argentina survived as one of the two best runners-up.
While there have been plenty of teething problems for the inaugural version of the revamped Davis Cup, the knockout phase looks enticing as world number one Rafael Nadal bids to lead Spain to the title on home soil.
Andy Murray could be called upon after being rested from the singles following his close match against the Netherlands' Tallon Griekspoor on Wednesday.
"I'm excited for Taylor", Fish said.