WORKAROUND
The problem feature which leads to the error can be disabled using PowerShell:
disable-SPFeature -Identity "41b8f8f6-bf2e-4ba7-a2a4-ac71ecd8a160" -url http://CentralAdmin -force
disable-SPFeature -Identity "3ba4cd43-02a0-461f-b703-f5291a1f43f6" -url http://CentralAdmin -force
Note: The feature will be redeployed upon agent restart so error will return.
STATUS
Waiting fix in a future release of Change Auditor.