Kube-apiserver log invalid bearer token, square/go-jose: error in cryptographic primitive

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Cluster information:

Kubernetes version: 1.11.10
Cloud being used: (put bare-metal if not on a public cloud)
Installation method: The way of binary
Host OS: CoreOS
CNI and version: calico-cni:v2.0.1
CRI and version: docker 18.06.3-ce

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