Automatic merge from submit-queue (batch tested with PRs 62568, 62220, 62743, 62751, 62753). If you want to cherry-pick this change to another branch, please follow the instructions <a href="https://github.com/kubernetes/community/blob/master/contributors/devel/cherry-picks.md">here</a>.

Kubeadm upgrade same version

What this PR does / why we need it:

When kubeadm 1.10 came out, it inadvertently introduced a backwards incompatible config change. Because the kubeadm MasterConfiguration is written by the old version of kubeadm and read by the new one, this incompatibility causes the upgrade to fail.

To mitigate this, I've written a simple transform that operates on a map-based version of the config. This map is mutated to make it compatible with the new structure, then serialised to JSON and deserialised by the usual APIMachinery.

Because of complications with the multiple versions, this PR enforces kubeadm only being used to upgrade to kubernetes of the same minor and major versions.

Which issue(s) this PR fixes (optional, in fixes #<issue number>(, fixes #<issue_number>, ...) format, will close the issue(s) when PR gets merged):
Fixes [kubeadm#744](https://github.com/kubernetes/kubeadm/issues/744#issuecomment-379045823L)
This PR is an alternate take on #62353. Instead of trying to gate migration on versions, this constrains kubeadm to only upgrade versions from the same major and minor versions.

Special notes for your reviewer:
```release-note
fixes configuration error when upgrading kubeadm from 1.9 to 1.10+
enforces  kubeadm  upgrading kubernetes from the same major and minor versions as the kubeadm binary.
```