The two giants will meet in the Champions League quarterfinals.
Mijatovic told AS: "We have the League on track and in the Champions League, be careful, it is not intelligent to underestimate Madrid.
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"Three years ago I had lunch with (City sporting director Txiki) Begiristain in Manchester.
"When talking about the Champions League he told me: 'Before a draw there is only one team that no one wants to get: Real Madrid.'"