By ESPNSTAR.com staff
QPR need a point to ensure Premier League safety but are up against a rampant Manchester City side who are undefeated at home and just a win away from their first ever Premier League title.
Venables admits the odds are stacked against Mark Hughes's team on Sunday but if QPR's west London neighbours Chelsea can beat Barcelona in the UEFA Champions League, then the Rs can get a point at the Etihad.
Venables wrote in his column for the Sun: "After all, not many people gave Chelsea any chance of beating Barcelona in the Champions League semi-final, did they?
"Especially after the first 43 minutes of the second leg at the Nou Camp - where the rampant Catalans scored twice to wipe out Chelsea's first-leg lead and John Terry was sent off. But the 10-men Blues overcame massive odds to come back from 2-0 down on the night to draw 2-2 and win 3-2 on aggregate.
"Roberto Di Matteo and his depleted team had a bit of good luck with Lionel Messi missing a penalty.
"But they showed what you can achieve in football with lots of hard work, determination and organisation.
"Rangers need to replicate that tomorrow [Sunday] if they want to ensure their survival remains in their own hands."
Venables believes that Chelsea were defensively sound against Barcelona in both legs of their semi-final clash and QPR will need to be similarly as solid.
"The likes of Anton Ferdinand and Clint Hill in defence will have to put their bodies on the line in the same way as their Chelsea counterparts Terry, Gary Cahill and Branislav Ivanovic did," he said in the Sun.
"Throwing themselves in front of City's inevitable shots will not be enough.
"The Rangers defenders will have to make sure they block them, too. Deflections will not be enough. City's gifted stars will want to play through the middle.
"So just like Chelsea against Barca, Rangers will have to close down areas in the middle of the park to stop Sergio Aguero, Carlos Tevez and David Silva from playing. The more Rangers can force them into wide areas, the better.
"City will not want to load balls into the box from out wide. When they do reach the bylines they prefer to cut the ball back.
"Rangers must be wary of City's runners into the area. Their defensive unit must remain tight and switched on at all times."
To achieve this, Venables is adamant that QPR will play their usual 4-2-3-1 formation with their manager Hughes instructing his players not to park the bus for 90 minutes.
"They have to try to give City something to think about, too," he said.
"I expect Rangers to play their usual 4-2-3-1 and defend at all times with seven players.
"For some spells they may even have eight or nine men behind the ball.
"But Hughes knows his team will need to try to catch City on the breakaway - and that is why Jamie Mackie and Adel Taarabt could prove so important."
Should QPR secure a shock result on Sunday, it would not only ensure their survival but could help Manchester United win the title in the process if the Red Devils win their final game against Sunderland.