Last night I ran into the same problem. I upgraded from 12.04 LTS to 16.04.1 
LTS Server and got stuck at boot.
The last message complained about a UUID not being present. It turned out it 
was the /usr FS. Doing an "lvm lvscan" from the initrd prompt showed all but 
one LVs inactive. The only one active was bootvg/root. 
I then booted via rescue system and added "lvm vgchange -ay" in 
/usr/share/initramfs-tools/scripts/local-top/lvm2 right before "exit 0". After 
running "update-initramfs -k all -c" and rebooting the server got up again.

The bootvg is on a RAID1 disk controlled via mdadm.

mdadm --detail /dev/md1
/dev/md1:
        Version : 1.2
  Creation Time : Sat Dec 20 16:49:58 2014
     Raid Level : raid1
     Array Size : 971924032 (926.90 GiB 995.25 GB)
  Used Dev Size : 971924032 (926.90 GiB 995.25 GB)
   Raid Devices : 2
  Total Devices : 2
    Persistence : Superblock is persistent

    Update Time : Mon Jan 23 09:50:47 2017
          State : clean
 Active Devices : 2
Working Devices : 2
 Failed Devices : 0
  Spare Devices : 0

           Name : XXX:1
           UUID : xxxxxxxx:xxxxxxxx:xxxxxxxx:xxxx814e
         Events : 21001

    Number   Major   Minor   RaidDevice State
       0       8       19        0      active sync   /dev/sdb3
       2       8        3        1      active sync   /dev/sda3

pvs
  PV         VG      Fmt  Attr PSize   PFree
  /dev/md1   bootvg  lvm2 a--  926.90g 148.90g

The /boot FS is on sda1/sdb1 also via RAID1
sda2 and sda2 are swap 

fdisk -l /dev/sda
Disk /dev/sda: 931.5 GiB, 1000204886016 bytes, 1953525168 sectors
Units: sectors of 1 * 512 = 512 bytes
Sector size (logical/physical): 512 bytes / 4096 bytes
I/O size (minimum/optimal): 4096 bytes / 4096 bytes
Disklabel type: dos
Disk identifier: 0x00000000

Device     Boot   Start        End    Sectors  Size Id Type
/dev/sda1          2048    1026047    1024000  500M fd Linux raid autodetect
/dev/sda2       1026048    9414655    8388608    4G 82 Linux swap / Solaris
/dev/sda3       9414656 1953525167 1944110512  927G fd Linux raid autodetect

lsb_release -rd
Description:    Ubuntu 16.04.1 LTS
Release:        16.04

dpkg -l lvm2
ii  lvm2                   2.02.133-1ubuntu amd64            Linux Logical 
Volume Manager

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https://bugs.launchpad.net/bugs/1573982

Title:
  LVM boot problem - volumes not activated after upgrade to Xenial

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