Error appears during start of mysql service: Missing system table mysql.roles_mapping; please run mysql_upgrade to create it

Symptoms

The following error appears in Plesk while starting mysql service:  

PLESK_ERROR: ERROR: Plesk\Exception\Database: DB query failed: SQLSTATE[HY000]: General error: 1 Can't create/write to file '/var/tmp/#sql_5f1_0.MAI' (Errcode: 2), query was: DESCRIBE `sessions`
Additionally, an exception has occurred while trying to report this error: Zend_Exception
No entry is registered for key 'translate' (Mysql.php:53)

The following error is present in system log (/var/log/messages, /var/log/syslog, /var/log/mariadb/mariadb.log, /var/log/mysql/mysql.log):

CONFIG_TEXT: [ERROR] Missing system table mysql.roles_mapping; please run mysql_upgrade to create it

or:

CONFIG_TEXT: InnoDB: Error: Fetch of persistent statistics requested for table "table_name"."database_name" but the required system tables mysql.innodb_table_stats and mysql.innodb_index_stats are not present or have unexpected structure. Using transient stats instead.

Website shows 'Error establishing a database connection' error and trying to access website databases at Plesk > Domains > example.com > Databases results in the error:

PLESK_ERROR: Unknown column 'Event_priv' in 'field list

As a result of errors, MySQL consume a lot of CPU.

Cause

Failed MySQL upgrade.

Resolution

1. Connect to the server using SSH
2. Complete the MySQL upgrade using the following command:

   # mysql_upgrade -u admin -p`cat /etc/psa/.psa.shadow` --force