RBAC is enable by default
Start minikube with RBAC on OSX:
$ minikube start --bootstrapper=kubeadm
In order to enable PSP:
$ minikube delete
$ minikube start \
--extra-config=apiserver.feature-gates=CustomResourceSubresources=true \
--extra-config=apiserver.admission-control="NamespaceLifecycle,LimitRanger,ServiceAccount,DefaultStorageClass,DefaultTolerationSeconds,NodeRestriction,PodSecurityPolicy,MutatingAdmissionWebhook,ValidatingAdmissionWebhook,ResourceQuota"
Check active resources:
$ k api-resources