2876433 - Exception "Can't call method 'canUpgradeComponent'" during SAP HANA Database upgrade

During the SAP HANA Database upgrade (for example, from SAP HANA 2.0 SPS03 revision 033 to SAP HANA 2.0 SPS04 revision 044), the upgrade process fails and the hdblcm.log contains the following error entries:

03:22:26.553 - INFO:   Upgrade from 2.00.033.00.1535711040 to 2.00.044.00.1571081837 is allowed.
03:22:26.555 - ERR : unhandled exception: Can't call method "canUpgradeComponent" on an undefined value 
at LCM/Utils/ComponentActionStringGenerator/InstallUpdate.pm line 129.
03:22:26.555 - INFO: Summary of critical errors
03:22:26.555 - ERR :   unhandled exception: Can't call method "canUpgradeComponent" on an undefined value 
at LCM/Utils/ComponentActionStringGenerator/InstallUpdate.pm line 129.
...
hdblcm reports:
Resident hdblcm: Update to version 2.3.57.0 is pending 
(since 2019-02-04T21:25:13) at step 'Updating Resident hdblcm'

• SAP HANA 2.0 SPS03 (revision 033)
• SAP HANA lifecycle manager (hdblcm) 2.3.57.0 

upgrade, install, installation, hdblcm, resident hdblcm, canUpgradeComponent, LCM, ComponentActionStringGenerator, undefined value, exception, SAP HANA upgrade, SPS03, SPS04, crash, error  , KBA , HAN-LM-UPG-DB , Upgrade of HANA Database , Problem